Issue Running the code

[brunoar]

Hi Swapneel, Congrats for the awesome work! I've tried to run your model but I'm getting this error:

-- Generating done -- Build files have been written to: /home/bruno/Desktop/PAer/src/VTOL_Y4_Firmware/build_posix_sitl_default/build_gazebo [4/7] Performing build step for 'sitl_gazebo' ninja: no work to do. [7/7] cd /home/bruno/Desktop/PAer/src/VTOL_Y4_Firmware/build_posix_sit.../home/bruno/Desktop/PAer/src/VTOL_Y4_Firmware/build_posix_sitl_default /bin/sh: 1: /home/bruno/Desktop/PAer/src/VTOL_Y4_Firmware/Tools/sitl_run.sh: Permission denied FAILED: cd /home/bruno/Desktop/PAer/src/VTOL_Y4_Firmware/build_posix_sitl_default/tmp && /home/bruno/Desktop/PAer/src/VTOL_Y4_Firmware/Tools/sitl_run.sh /home/bruno/Desktop/PAer/src/VTOL_Y4_Firmware/build_posix_sitl_default/src/firmware/posix/px4 posix-configs/SITL/init/ekf2 none gazebo vtol_y4 /home/bruno/Desktop/PAer/src/VTOL_Y4_Firmware /home/bruno/Desktop/PAer/src/VTOL_Y4_Firmware/build_posix_sitl_default ninja: build stopped: subcommand failed. Makefile:155: recipe for target 'posix_sitl_default' failed make: *** [posix_sitl_default] Error 1

I've had other errors which I've solved downgrading to gazebo 7. Any clue on what's causing this error?

[SwapUNaph]

@brunoar , this error is because you do not have permission to run the script. You would have to use sudo: sudo make posix_sitl_default gazebo_vtol_y4 Or if you wish to not use sudo, you can grant permission for the firmware folder by doing: sudo chown $USER:$USER /path/to/firmware/folder -R

Regards.

[brunoar]

@SwapUNaph , that was also my first guess, weirdly enough I get the exact same error running with sudo or granting permission for the firmware folder

[SwapUNaph]

@brunoar , try this: chmod +x /home/bruno/Desktop/PAer/src/VTOL_Y4_Firmware/Tools/*.sh

[brunoar]

@SwapUNaph, thank you so much! That did help, gazebo finally started. I'm getting some errors and warnings though, do you have any idea what may be the cause?

[Msg] Waiting for master. Gazebo multi-robot simulator, version 7.16.0 Copyright (C) 2012 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

[Msg] Waiting for master. [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [Msg] Publicized address: 10.112.98.59 INFO [dataman] Unkown restart, data manager file 'rootfs/fs/microsd/dataman' size is 11797680 bytes INFO [platformsposixdriversledsim] LED::init INFO [platformsposixdriversledsim] LED::init INFO [simulator] Waiting for initial data on UDP port 14560. Please start the flight simulator to proceed.. Warning [parser.cc:835] XML Element[gravity], child of element[model] not defined in SDF. Ignoring[gravity]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element. Warning [parser.cc:835] XML Element[velocity_decay], child of element[model] not defined in SDF. Ignoring[velocity_decay]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element. [Err] [Plugin.hh:165] Failed to load plugin /home/bruno/Desktop/PAer/src/VTOL_Y4_Firmware/build_posix_sitl_default/build_gazebo/libLiftDragPlugin.so: libboost_thread.so.1.71.0: cannot open shared object file: No such file or directory [Err] [Plugin.hh:165] Failed to load plugin /home/bruno/Desktop/PAer/src/VTOL_Y4_Firmware/build_posix_sitl_default/build_gazebo/libLiftDragPlugin.so: libboost_thread.so.1.71.0: cannot open shared object file: No such file or directory [Err] [Plugin.hh:165] Failed to load plugin /home/bruno/Desktop/PAer/src/VTOL_Y4_Firmware/build_posix_sitl_default/build_gazebo/libLiftDragPlugin.so: libboost_thread.so.1.71.0: cannot open shared object file: No such file or directory [Err] [Plugin.hh:165] Failed to load plugin /home/bruno/Desktop/PAer/src/VTOL_Y4_Firmware/build_posix_sitl_default/build_gazebo/libLiftDragPlugin.so: libboost_thread.so.1.71.0: cannot open shared object file: No such file or directory [Err] [Plugin.hh:165] Failed to load plugin /home/bruno/Desktop/PAer/src/VTOL_Y4_Firmware/build_posix_sitl_default/build_gazebo/librotors_gazebo_motor_model.so: libboost_thread.so.1.71.0: cannot open shared object file: No such file or directory [Err] [Plugin.hh:165] Failed to load plugin /home/bruno/Desktop/PAer/src/VTOL_Y4_Firmware/build_posix_sitl_default/build_gazebo/librotors_gazebo_motor_model.so: libboost_thread.so.1.71.0: cannot open shared object file: No such file or directory [Err] [Plugin.hh:165] Failed to load plugin /home/bruno/Desktop/PAer/src/VTOL_Y4_Firmware/build_posix_sitl_default/build_gazebo/librotors_gazebo_motor_model.so: libboost_thread.so.1.71.0: cannot open shared object file: No such file or directory [Err] [Plugin.hh:165] Failed to load plugin /home/bruno/Desktop/PAer/src/VTOL_Y4_Firmware/build_posix_sitl_default/build_gazebo/librotors_gazebo_motor_model.so: libboost_thread.so.1.71.0: cannot open shared object file: No such file or directory [Err] [Plugin.hh:165] Failed to load plugin /home/bruno/Desktop/PAer/src/VTOL_Y4_Firmware/build_posix_sitl_default/build_gazebo/librotors_gazebo_motor_model.so: libboost_thread.so.1.71.0: cannot open shared object file: No such file or directory [Err] [Plugin.hh:165] Failed to load plugin /home/bruno/Desktop/PAer/src/VTOL_Y4_Firmware/build_posix_sitl_default/build_gazebo/librotors_gazebo_imu_plugin.so: libboost_thread.so.1.71.0: cannot open shared object file: No such file or directory [Err] [Plugin.hh:165] Failed to load plugin /home/bruno/Desktop/PAer/src/VTOL_Y4_Firmware/build_posix_sitl_default/build_gazebo/librotors_gazebo_mavlink_interface.so: libboost_thread.so.1.71.0: cannot open shared object file: No such file or directory [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [Msg] Publicized address: 10.112.98.59

[SwapUNaph]

@brunoar , looks like the compiler is not able find the libboost_thread.so library. You may need to install boost 1.17.0 version. But before that try running other standard gazebo sims given on the page: https://dev.px4.io/master/en/simulation/gazebo.html To test if the problem is with the boost library installation or with the specific version of the firmware. Also as mentioned earlier, this repository is an older version of px4 so you might have to downgrade the dependencies to make it work.

[brunoar]

@SwapUNaph, after installing and uninstalling gazebo again, I managed to run your model. It looks very good! Now, when I try to deploy a mission with QGroundControl, the plane does not follow the mission. I'm trying to vertically take-off and transition, cruise for a while, transition and vertically land. Is there something I'm missing?

[SwapUNaph]

@brunoar, awesome! Now try to follow the official website for running px4 gazebo sim: https://dev.px4.io/master/en/simulation/gazebo.html#taking-it-to-the-sky

I believe QGroundControl doesn't work with Gazebo Sim models. For that you will have to use px4 terminal as mentioned in the above link.

Regards.

[brunoar]

@SwapUNaph Thank you! It is working. Do you know where I can find a list of suitable commands? Up to now I was able to use "commander takeoff" and "commander transition".

[SwapUNaph]

https://dev.px4.io/v1.9.0/en/middleware/modules_main.html

This is the complete command reference for px4. I hope it helps.