Gazebo sim window can't appear

[wyattPol]

in the second terminal I run this command:~/PX4-Autopilot$ PX4_SYS_AUTOSTART=4002 PX4_GZ_MODEL_POSE="268.08,-128.22,3.86,0.00,0,-0.7" PX4_GZ_MODEL=x500_depth ./build/px4_sitl_default/bin/px4

the gazebo sim window appeared only for one time when I first time to run the command,but later I run this command, the window still didn't show up. I ve tried to use this command :pkill -f gazebo ,there is nothing changed. Here below is the terminal displays: `(px4-venv) (mytello) fisher@flyingff2083:~/PX4-Autopilot$ PX4_SYS_AUTOSTART=4002 PX4_GZ_MODEL_POSE="268.08,-128.22,3.86,0.00,0,-0.7" PX4_GZ_MODEL=x500_depth ./build/px4_sitl_default/bin/px4

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px4 starting.

INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0 env SYS_AUTOSTART: 4002 INFO [param] selected parameter default file parameters.bson INFO [param] importing from 'parameters.bson' INFO [parameters] BSON document size 473 bytes, decoded 473 bytes (INT32:15, FLOAT:8) INFO [param] selected parameter backup file parameters_backup.bson INFO [dataman] data manager file './dataman' size is 7872608 bytes INFO [init] Gazebo simulator INFO [init] gazebo already running world: default INFO [init] PX4_GZ_MODEL_POSE set, spawning at: 268.08,-128.22,3.86,0.00,0,-0.7 INFO [gz_bridge] world: default, model name: x500_depth_0, simulation model: x500_depth INFO [gz_bridge] Requested Model Position: 268.08,-128.22,3.86,0.00,0,-0.7 INFO [lockstep_scheduler] setting initial absolute time to 545960000 us INFO [commander] LED: open /dev/led0 failed (22) WARN [health_and_arming_checks] Preflight Fail: ekf2 missing data WARN [health_and_arming_checks] Preflight Fail: Compass Sensor 0 missing INFO [uxrce_dds_client] init UDP agent IP:127.0.0.1, port:8888 INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550 INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540 INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030 INFO [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280 INFO [logger] logger started (mode=all) INFO [logger] Start file log (type: full) INFO [logger] [logger] ./log/2024-05-11/01_23_08.ulg
INFO [logger] Opened full log file: ./log/2024-05-11/01_2308.ulg INFO [mavlink] MAVLink only on localhost (set param MAV{i}BROADCAST = 1 to enable network) INFO [mavlink] MAVLink only on localhost (set param MAV{i}_BROADCAST = 1 to enable network) INFO [px4] Startup script returned successfully pxh> WARN [health_and_arming_checks] Preflight Fail: Compass Sensor 0 missing INFO [uxrce_dds_client] synchronized with time offset 1715390044610902us INFO [uxrce_dds_client] successfully created rt/fmu/out/battery_status data writer, topic id: 19 INFO [uxrce_dds_client] successfully created rt/fmu/out/estimator_status_flags data writer, topic id: 87 INFO [uxrce_dds_client] successfully created rt/fmu/out/failsafe_flags data writer, topic id: 93 INFO [uxrce_dds_client] successfully created rt/fmu/out/manual_control_setpoint data writer, topic id: 141 INFO [uxrce_dds_client] successfully created rt/fmu/out/position_setpoint_triplet data writer, topic id: 180INFO [uxrce_dds_client] successfully created rt/fmu/out/sensor_combined data writer, topic id: 203 INFO [uxrce_dds_client] successfully created rt/fmu/out/timesync_status data writer, topic id: 226 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_attitude data

writer, topic id: 242 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_control_mode data writer, topic id: 249 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_local_position data writer, topic id: 256 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_odometry data writer, topic id: 261 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_status data writer, topic id: 266 INFO [uxrce_dds_client] time sync converged WARN [timesync] time jump detected. Resetting time synchroniser. WARN [uxrce_dds_client] time sync no longer converged INFO [uxrce_dds_client] time sync converged WARN [timesync] time jump detected. Resetting time synchroniser. WARN [uxrce_dds_client] time sync no longer converged INFO [uxrce_dds_client] time sync converged WARN [timesync] time jump detected. Resetting time synchroniser. WARN [uxrce_dds_client] time sync no longer converged INFO [uxrce_dds_client] time sync converged WARN [timesync] time jump detected. Resetting time synchroniser. WARN [uxrce_dds_client] time sync no longer converged INFO [uxrce_dds_client] time sync converged WARN [timesync] time jump detected. Resetting time synchroniser. WARN [uxrce_dds_client] time sync no longer converged INFO [uxrce_dds_client] time sync converged WARN [timesync] time jump detected. Resetting time synchroniser. WARN [uxrce_dds_client] time sync no longer converged INFO [uxrce_dds_client] time sync converged

PX4 Exiting... pxh> Exiting NOW. `

[monemati]

@wyattPol Hello. It says INFO [init] gazebo already running world: default just close everything and/or reboot to be sure.

[wyattPol]

@wyattPol Hello. It says INFO [init] gazebo already running world: default just close everything and/or reboot to be sure.

hi thanks for your help. It works now, but when i run the offborad control, it can only take off ,i can't use keyboard to control its movement. I tried in terminal 2 run:make px4_sitl jmavsim ,in jmavsim the offboard control works. BUt in gazebo sim, offboard control doesnt work, i have no idea. do you have any advice?

[monemati]

@wyattPol Hi, The offboard control is only an example, and if you look at the code from their repo you will see it is only takeoff and land. For keyboard control you can use Fly using Keyboard part of repo. If you want to use a ros node to run other commands than takeoff you have to modify px4_ros_com package (~/ws_offboard_control/src/px4_ros_com/src/examples).

[wyattPol]

@wyattPol Hi, The offboard control is only an example, and if you look at the code from their repo you will see it is only takeoff and land. For keyboard control you can use Fly using Keyboard part of repo. If you want to use a ros node to run other commands than takeoff you have to modify px4_ros_com package (~/ws_offboard_control/src/px4_ros_com/src/examples).

Thanks for your help!