[Bug] failed to "make px4_sitl_default gazebo-classic_iris" on ubuntu 20.04 with gazebo 11.11 and ros1

Describe the bug

I'm trying to launch the simulation in gazebo following the instruction on the website. After I ran the command make px4_sitl_default gazebo-classic_iris, it shows :

[0/5] Performing configure step for 'sitl_gazebo-classic' -- install-prefix: /usr/local -- cmake build type: RelWithDebInfo -- Using C++17 standard -- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found suitable version "1.71.0", minimum required is "1.58") found components: system thread filesystem CMake Warning (dev) at /usr/local/share/cmake-3.21/Modules/FindPackageHandleStandardArgs.cmake:438 (message): The package name passed to find_package_handle_standard_args (PkgConfig) does not match the name of the calling package (gazebo). This can lead to problems in calling code that expects find_package result variables (e.g., _FOUND) to follow a certain pattern. Call Stack (most recent call first): /usr/local/share/cmake-3.21/Modules/FindPkgConfig.cmake:70 (find_package_handle_standard_args) /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:72 (include) CMakeLists.txt:48 (find_package) This warning is for project developers. Use -Wno-dev to suppress it.

-- Found DART: /usr/include (Required is at least version "6.6") found components: dart -- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found suitable version "1.71.0", minimum required is "1.40.0") found components: thread system filesystem program_options regex iostreams date_time -- Looking for ignition-math6 -- found version 6.15.0 -- Searching for dependencies of ignition-math6 -- Looking for OGRE... -- Found Ogre Ghadamon (1.9.0) -- Looking for OGRE_Paging... -- Found OGRE_Paging: optimized;/usr/lib/x86_64-linux-gnu/libOgrePaging.so;debug;/usr/lib/x86_64-linux-gnu/libOgrePaging.so -- Looking for OGRE_Terrain... -- Found OGRE_Terrain: optimized;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so -- Looking for OGRE_Property... -- Found OGRE_Property: optimized;/usr/lib/x86_64-linux-gnu/libOgreProperty.so;debug;/usr/lib/x86_64-linux-gnu/libOgreProperty.so -- Looking for OGRE_RTShaderSystem... -- Found OGRE_RTShaderSystem: optimized;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so -- Looking for OGRE_Volume... -- Found OGRE_Volume: optimized;/usr/lib/x86_64-linux-gnu/libOgreVolume.so;debug;/usr/lib/x86_64-linux-gnu/libOgreVolume.so -- Looking for OGRE_Overlay... -- Found OGRE_Overlay: optimized;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so -- Looking for ignition-math6 -- found version 6.15.0 -- Looking for ignition-transport8 -- found version 8.3.0 -- Searching for dependencies of ignition-transport8 -- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found suitable version "3.6.1", minimum required is "3") -- Config-file not installed for ZeroMQ -- checking for pkg-config -- Checking for module 'libzmq >= 4' -- Found libzmq , version 4.3.2 -- Checking for module 'uuid' -- Found uuid, version 2.34.0 -- Looking for ignition-msgs5 -- found version 5.10.0 -- Searching for dependencies of ignition-msgs5 -- Looking for ignition-math6 -- found version 6.15.0 -- Checking for module 'tinyxml2' -- Found tinyxml2, version 6.2.0 -- Looking for ignition-msgs5 -- found version 5.10.0 -- Looking for ignition-common3 -- found version 3.14.2 -- Searching for dependencies of ignition-common3 -- Looking for dlfcn.h - found -- Looking for libdl - found -- Searching for component [graphics] -- Looking for ignition-common3-graphics -- found version 3.14.2 -- Searching for dependencies of ignition-common3-graphics -- Looking for ignition-math6 -- found version 6.15.0 -- Looking for ignition-fuel_tools4 -- found version 4.6.0 -- Searching for dependencies of ignition-fuel_tools4 -- Checking for module 'jsoncpp' -- Found jsoncpp, version 1.7.4 -- Checking for module 'yaml-0.1' -- Found yaml-0.1, version 0.2.2 -- Checking for module 'libzip' -- Found libzip, version 1.5.1 -- Looking for ignition-common3 -- found version 3.14.2 -- Looking for ignition-math6 -- found version 6.15.0 -- Looking for ignition-msgs5 -- found version 5.10.0 -- Checking for module 'gstreamer-1.0 >= 1.0' -- No package 'gstreamer-1.0' found -- Checking for module 'gstreamer-base-1.0 >= 1.0' -- No package 'gstreamer-base-1.0' found -- Checking for module 'gstreamer-app-1.0 >= 1.0' -- No package 'gstreamer-app-1.0' found CMake Deprecation Warning at external/OpticalFlow/CMakeLists.txt:34 (cmake_minimum_required): Compatibility with CMake < 2.8.12 will be removed from a future version of CMake.

Update the VERSION argument value or use a ... suffix to tell CMake that the project does not need compatibility with older versions.

CMake Deprecation Warning at external/OpticalFlow/external/klt_feature_tracker/CMakeLists.txt:1 (cmake_minimum_required): Compatibility with CMake < 2.8.12 will be removed from a future version of CMake.

Update the VERSION argument value or use a ... suffix to tell CMake that the project does not need compatibility with older versions.

-- Building klt_feature_tracker without catkin -- Building OpticalFlow with OpenCV -- catkin DISABLED -- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found version "3.6.1") -- Gazebo version: 11.11 -- Found GStreamer: adding gst_camera_plugin -- Found GStreamer: adding gst_video_stream_widget -- Configuring done CMake Error: The following variables are used in this project, but they are set to NOTFOUND. Please set them or make sure they are set and tested correctly in the CMake files: GSTREAMER_APP_LIBRARIES (ADVANCED) linked by target "AdvancedLiftDragPlugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "ForceVisual" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_airship_dynamics_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_pose_sniffer_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_usv_dynamics_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_random_velocity_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "LiftDragPlugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_catapult_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "sensor_msgs" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_airspeed_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_groundtruth_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "std_msgs" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_parachute_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_irlock_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_lidar_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_multirotor_base_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_wind_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_video_stream_widget" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_gps_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_opticalflow_mockup_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_opticalflow_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "physics_msgs" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_aruco_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_uuv_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_drop_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "nav_msgs" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_sonar_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_vision_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_user_camera_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_gst_camera_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "mav_msgs" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_controller_interface" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_gimbal_controller_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_imu_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_mavlink_interface" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_motor_model" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_camera_manager_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_magnetometer_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_barometer_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic GSTREAMER_LIBRARIES (ADVANCED) linked by target "AdvancedLiftDragPlugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "ForceVisual" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_airship_dynamics_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_pose_sniffer_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_usv_dynamics_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_random_velocity_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "LiftDragPlugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_catapult_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "sensor_msgs" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_airspeed_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_groundtruth_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "std_msgs" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_parachute_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_irlock_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_lidar_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_multirotor_base_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_wind_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_video_stream_widget" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_gps_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_opticalflow_mockup_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_opticalflow_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "physics_msgs" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_aruco_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_uuv_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_drop_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "nav_msgs" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_sonar_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_vision_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_user_camera_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_gst_camera_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "mav_msgs" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_controller_interface" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_gimbal_controller_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_imu_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_mavlink_interface" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_motor_model" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_camera_manager_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_magnetometer_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic linked by target "gazebo_barometer_plugin" in directory /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic

-- Generating done CMake Generate step failed. Build files cannot be regenerated correctly. FAILED: external/Stamp/sitl_gazebo-classic/sitl_gazebo-classic-configure /home/qin/PX4-Autopilot/build/px4_sitl_default/external/Stamp/sitl_gazebo-classic/sitl_gazebo-classic-configure cd /home/qin/PX4-Autopilot/build/px4_sitl_default/build_gazebo-classic && /usr/local/bin/cmake -DCMAKE_INSTALL_PREFIX=/usr/local -DSEND_ODOMETRY_DATA=ON -DGENERATE_ROS_MODELS=ON -GNinja /home/qin/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic && /usr/local/bin/cmake -E touch /home/qin/PX4-Autopilot/build/px4_sitl_default/external/Stamp/sitl_gazebo-classic/sitl_gazebo-classic-configure ninja: build stopped: subcommand failed. make: *** [Makefile:227: px4_sitl_default] Error 1

I can't make the project. I noticed others also had this question, my issue is pretty similar to this one #21089 . Someone suggested that something wrong with toolchain installation. I ran the toolchain setup script again. If I don't specify --no-sim-tools --no-nuttx, no errors pop up and I still have the error listed above. However, if I don't specify any flags, I got this error:

The following packages have unmet dependencies: g++-multilib : Depends: g++-9-multilib (>= 9.3.0-3~) but it is not going to be installed gcc-multilib : Depends: gcc-9-multilib (>= 9.3.0-3~) but it is not going to be installed gdb-multiarch : Depends: gdb (= 9.1-0ubuntu1) but 9.2-0ubuntu1~20.04.1 is to be installed E: Unable to correct problems, you have held broken packages.

To Reproduce

I completely follow the instruction on the website. and my environment is ubuntu 20.04, ros1 with gazebo 11.11

Expected behavior

expect to make the project successfully

Screenshot / Media

No response

Flight Log

N/A

Software Version

N/A

Flight controller

N/A

Vehicle type

None

How are the different components wired up (including port information)

No response

Additional context

No response

PX4 / PX4-Autopilot