Launch Gazebo simulation separately

[Cristian-wp]

Hello, I am trying to launch separately the Gazebo-Classic simulation with PX4. Now I have manage to launch any other "TMUX winwow" separately

• Window0: Gazebo simulation (NOT WORKING) gazebo -p /home/ctrazzi/px4_ws/src/project_px4_vision/utils/gazebo.yml simulation_config=/home/ctrazzi/px4_ws/src/project_px4_vision/sim_config/world.json & wait

• Window1: MicroXRCEAgent udp4 -p 8888

• Window2: ros2 launch as2_platform_pixhawk pixhawk_launch.py namespace:=drone0 use_sim_time:=true platform_config_file:=/home/ctrazzi/px4_ws/src/project_px4_vision/sim_config/platform_config.yaml

• Window3: ros2 launch as2_state_estimator state_estimator_launch.py namespace:=drone0 use_sim_time:=true plugin_name:=raw_odometry plugin_config_file:=/home/ctrazzi/px4_ws/src/project_px4_vision/sim_config/state_estimator_odom.yaml

• Window4: ros2 launch as2_motion_controller controller_launch.py namespace:=drone0 use_sim_time:=true plugin_name:=pid_speed_controller motion_controller_config_file:=/home/ctrazzi/px4_ws/src/project_px4_vision/sim_config/motion_controller.yaml plugin_config_file:=/home/ctrazzi/px4_ws/src/project_px4_vision/sim_config/pid_speed_controller.yaml

• Window5: ros2 launch as2_behaviors_motion motion_behaviors_launch.py namespace:=drone0 use_sim_time:=true follow_path_plugin_name:=follow_path_plugin_position go_to_plugin_name:=go_to_plugin_position takeoff_plugin_name:=takeoff_plugin_position land_plugin_name:=land_plugin_speed

• Window6: python3 mission.py -s

The problem with simulation consists in the fact that Gazebo does not start at all... It did not show any output error at all, simply I launch the command and the process termitates clean after some seconds... Can you tell me how to perform correctly this action?

[pariaspe]

It seems that you are not using the right gazebo launch command. Try something like:

${AEROSTACK2_PATH}/as2_simulation_assets/gazebo_assets/scripts/default_run.sh <config-file>

Anyway, Gazebo11 is no longer maintained and we will soon remove as2_gazebo_classic_assets. Is there any reason why you are not using newer versions of Gazebo?

[Cristian-wp]

@pariaspe I am using Gazebo11 only because your PX4 example where build upon it. Is possible to useyour PX4 simulation example with the new version? There is a setting to do or there is specific branch?

[pariaspe]

The example needs to be updated, but there is a project working with the new version.

[Cristian-wp]

Hi @pariaspe I have already write in the other issue, but the link is broken or is a private reposirory.