Gazebo 11.15 cannot successfully load the model when simulating with PX4.

[MilkyWay2001]

Environment

• OS Version: ubuntu 20.04 ros-neotic gazebo 11.15 px4 15.3

Description

When I run the PX4 provided script as usual, the Gazebo window opens but shows an error saying it cannot load the model. However, it works fine in Gazebo 11.14 version.

Steps to reproduce

1. roslaunch px4 posix_sitl.launch

Output

[traversaro]

When I run the PX4 provided script as usual

Can you provide more details on this? As you may imagine we may not know what you "usual script" is.

[MilkyWay2001]

When I run the PX4 provided script as usual

Can you provide more details on this? As you may imagine we may not know what you "usual script" is.

Okay, I'll paste them below, thank you.

PARAMETERS

• /gazebo/enable_ros_network: True
• /rosdistro: noetic
• /rosversion: 1.17.0
• /use_sim_time: True NODES gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) sitl (px4/px4) vehicle_spawn_ubuntu_5487_4509372966239919091 (gazebo_ros/spawn_model)

posix_sitl.launch：

<?xml version="1.0"?>
<launch>
    <!-- Posix SITL environment launch script -->
    <!-- launches PX4 SITL, Gazebo environment, and spawns vehicle -->
    <!-- vehicle pose -->
    <arg name="x" default="0"/>
    <arg name="y" default="0"/>
    <arg name="z" default="0"/>
    <arg name="R" default="0"/>
    <arg name="P" default="0"/>
    <arg name="Y" default="0"/>
    <!-- vehicle model and world -->
    <arg name="est" default="ekf2"/>
    <arg name="vehicle" default="plane"/>
    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
    <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
    <env name="PX4_SIM_MODEL" value="gazebo-classic_$(arg vehicle)" />

    <!-- gazebo configs -->
    <arg name="gui" default="true"/>
    <arg name="debug" default="false"/>
    <arg name="verbose" default="false"/>
    <arg name="paused" default="false"/>
    <arg name="respawn_gazebo" default="false"/>
    <!-- PX4 configs -->
    <arg name="interactive" default="true"/>
    <!-- PX4 SITL -->
    <arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
    <arg     if="$(arg interactive)" name="px4_command_arg1" value=""/>
    <node name="sitl" pkg="px4" type="px4" output="screen"
        args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS $(arg px4_command_arg1)" required="true"/>

    <!-- Gazebo sim -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="gui" value="$(arg gui)"/>
        <arg name="world_name" value="$(arg world)"/>
        <arg name="debug" value="$(arg debug)"/>
        <arg name="verbose" value="$(arg verbose)"/>
        <arg name="paused" value="$(arg paused)"/>
        <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
    </include>
    <!-- gazebo model -->
    <node name="$(anon vehicle_spawn)" pkg="gazebo_ros" type="spawn_model" output="screen" args="-sdf -file $(arg sdf) -model $(arg vehicle) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
</launch>

LOG：

[rospy.client][INFO] 2024-11-30 06:13:00,804: init_node, name[/vehicle_spawn_ubuntu_5487_4509372966239919091], pid[5549]
[xmlrpc][INFO] 2024-11-30 06:13:00,805: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2024-11-30 06:13:00,805: Started XML-RPC server [http://ubuntu:38277/]
[rospy.impl.masterslave][INFO] 2024-11-30 06:13:00,805: _ready: http://ubuntu:38277/
[rospy.init][INFO] 2024-11-30 06:13:00,805: ROS Slave URI: [http://ubuntu:38277/]
[rospy.registration][INFO] 2024-11-30 06:13:00,806: Registering with master node http://localhost:11311
[xmlrpc][INFO] 2024-11-30 06:13:00,807: xml rpc node: starting XML-RPC server
[rospy.init][INFO] 2024-11-30 06:13:00,906: registered with master
[rospy.rosout][INFO] 2024-11-30 06:13:00,907: initializing /rosout core topic
[rospy.rosout][INFO] 2024-11-30 06:13:00,912: connected to core topic /rosout
[rospy.simtime][INFO] 2024-11-30 06:13:00,914: initializing /clock core topic
[rospy.simtime][INFO] 2024-11-30 06:13:00,917: connected to core topic /clock
[rosout][INFO] 2024-11-30 06:13:00,919: Loading model XML from file /home/milkyway/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/plane/plane.sdf
[rosout][INFO] 2024-11-30 06:13:00,925: Waiting for service /gazebo/spawn_sdf_model
[rospy.internal][INFO] 2024-11-30 06:13:01,265: topic[/rosout] adding connection to [/rosout], count 0
[rosout][INFO] 2024-11-30 06:13:02,437: Calling service /gazebo/spawn_sdf_model
[rospy.internal][INFO] 2024-11-30 06:13:02,478: topic[/clock] adding connection to [http://ubuntu:42581/], count 0
[rosout][INFO] 2024-11-30 06:13:12,535: Spawn status: SpawnModel: Entity pushed to spawn queue, but spawn service timed out waiting for entity to appear in simulation under the name plane
[rosout][ERROR] 2024-11-30 06:13:12,538: Spawn service failed. Exiting.
[rospy.core][INFO] 2024-11-30 06:13:12,541: signal_shutdown [atexit]
[rospy.internal][INFO] 2024-11-30 06:13:12,545: topic[/rosout] removing connection to /rosout
[rospy.internal][INFO] 2024-11-30 06:13:12,546: topic[/clock] removing connection to http://ubuntu:42581/
[rospy.impl.masterslave][INFO] 2024-11-30 06:13:12,547: atexit