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nhma20 / mmWave_ROS2_PX4_Gazebo

Simulate mmWave radar based drone control i Gazebo with ROS2 and PX4
33 stars 9 forks source link

error with "make px4_sitl_rtps gazebo_iris__hca_full_pylon_setup" #2

Closed Z123-Y456 closed 1 year ago

Z123-Y456 commented 1 year ago

When I start a PX4 Gazebo simulation using: make px4_sitl_rtps gazebo_iris__hca_full_pylon_setup, the failure is happened. The error message as follow:

FAILED: external/Stamp/sitl_gazebo/sitl_gazebo-configure 
cd /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/build_gazebo && /usr/bin/cmake -DCMAKE_INSTALL_PREFIX=/usr/local -DSEND_ODOMETRY_DATA=ON -DGENERATE_ROS_MODELS=ON -GNinja /home/a/PX4/PX4-Autopilot/Tools/sitl_gazebo && /usr/bin/cmake -E touch /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/external/Stamp/sitl_gazebo/sitl_gazebo-configure

I don't know how to handle it. Below is the full output of this command:

-- PX4 version: v1.13.0-beta1-548-gd7a962b426
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") 
-- PX4 config file: /home/a/PX4/PX4-Autopilot/boards/px4/sitl/rtps.px4board
-- PLATFORM posix
-- ROMFSROOT px4fmu_common
-- TESTING y
-- ETHERNET y
-- PX4 config: px4_sitl_rtps
-- PX4 platform: posix
-- PX4 lockstep: enabled
-- cmake build type: RelWithDebInfo
-- The CXX compiler identification is GNU 9.4.0
-- The C compiler identification is GNU 9.4.0
-- The ASM compiler identification is GNU
-- Found assembler: /usr/bin/cc
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Building for code coverage
-- ccache enabled (export CCACHE_DISABLE=1 to disable)
-- fastrtpsgen version 1.0.4
-- microRTPS bridge:
--   Publish to the bridge from: collision_constraints, sensor_combined, timesync, timesync_status, trajectory_waypoint, vehicle_control_mode, vehicle_odometry, vehicle_status, vehicle_trajectory_waypoint_desired
--   Subscribe from the bridge to: debug_array, debug_key_value, debug_value, debug_vect, offboard_control_mode, onboard_computer_status, position_setpoint, position_setpoint_triplet, sensor_optical_flow, telemetry_status, timesync, trajectory_bezier, trajectory_setpoint, vehicle_command, vehicle_local_position_setpoint, vehicle_trajectory_bezier, vehicle_trajectory_waypoint, vehicle_mocap_odometry, vehicle_visual_odometry
-- ROMFS: ROMFS/px4fmu_common
-- Configuring done
-- Generating done
-- Build files have been written to: /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps
[0/922] git submodule src/drivers/gps/devices
[6/922] git submodule src/modules/mavlink/mavlink
[11/922] git submodule src/modules/microdds_client/Micro-XRCE-DDS-Client
[13/922] Generating Mavlink developmen...ssage_definitions/v1.0/development.xml
Validating /home/a/PX4/PX4-Autopilot/src/modules/mavlink/mavlink/message_definitions/v1.0/development.xml
Parsing /home/a/PX4/PX4-Autopilot/src/modules/mavlink/mavlink/message_definitions/v1.0/development.xml
Validating /home/a/PX4/PX4-Autopilot/src/modules/mavlink/mavlink/message_definitions/v1.0/standard.xml
Parsing /home/a/PX4/PX4-Autopilot/src/modules/mavlink/mavlink/message_definitions/v1.0/standard.xml
Validating /home/a/PX4/PX4-Autopilot/src/modules/mavlink/mavlink/message_definitions/v1.0/common.xml
Parsing /home/a/PX4/PX4-Autopilot/src/modules/mavlink/mavlink/message_definitions/v1.0/common.xml
Validating /home/a/PX4/PX4-Autopilot/src/modules/mavlink/mavlink/message_definitions/v1.0/minimal.xml
Parsing /home/a/PX4/PX4-Autopilot/src/modules/mavlink/mavlink/message_definitions/v1.0/minimal.xml
Merged enum MAV_CMD
Merged enum MAV_CMD
Found 230 MAVLink message types in 4 XML files
Generating C implementation in directory /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/mavlink/development
Generating C implementation in directory /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/mavlink/standard
Generating C implementation in directory /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/mavlink/common
Generating C implementation in directory /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/mavlink/minimal
Copying fixed headers for protocol 2.0 to /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/mavlink
[20/922] git submodule src/modules/micrortps_bridge/micro-CDR
[21/922] git submodule Tools/sitl_gazebo
[26/922] Performing configure step for 'sitl_gazebo'
-- install-prefix: /usr/local
-- cmake build type: RelWithDebInfo
-- The C compiler identification is GNU 9.4.0
-- The CXX compiler identification is GNU 9.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Performing Test COMPILER_SUPPORTS_CXX17
-- Performing Test COMPILER_SUPPORTS_CXX17 - Success
-- Performing Test COMPILER_SUPPORTS_CXX14
-- Performing Test COMPILER_SUPPORTS_CXX14 - Success
-- Performing Test COMPILER_SUPPORTS_CXX11
-- Performing Test COMPILER_SUPPORTS_CXX11 - Success
-- Performing Test COMPILER_SUPPORTS_CXX0X
-- Performing Test COMPILER_SUPPORTS_CXX0X - Success
-- Using C++17 standard
-- ccache enabled (export CCACHE_DISABLE=1 to disable)
-- 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 
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1") 
-- Checking for module 'bullet>=2.82'
--   Found bullet, version 2.88
-- Found ccd: /usr/include (found suitable version "2.0", minimum required is "2.0") 
-- Found fcl: /usr/include (found suitable version "0.5.0", minimum required is "0.3.2") 
-- Found assimp: /usr/include (found version "5.0.0") 
-- 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 
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found version "3.6.1") 
-- Looking for ignition-math6 -- found version 6.13.0
-- Searching for dependencies of ignition-math6
-- Looking for OGRE...
-- OGRE_PREFIX_WATCH changed.
-- Checking for module 'OGRE'
--   Found OGRE, version 1.9.0
-- Found Ogre Ghadamon (1.9.0)
-- Found OGRE: optimized;/usr/lib/x86_64-linux-gnu/libOgreMain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreMain.so
-- 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 6.13.0
-- 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
-- Found ZeroMQ: TRUE (Required is at least version "4") 
-- Checking for module 'uuid'
--   Found uuid, version 2.34.0
-- Found UUID: TRUE  
-- Looking for ignition-msgs5 -- found version 5.10.0
-- Searching for dependencies of ignition-msgs5
-- Looking for ignition-math6 -- found version 6.13.0
-- 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
-- Found DL: TRUE  
-- Searching for <ignition-common3> 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 6.13.0
-- Looking for ignition-fuel_tools4 -- found version 4.6.0
-- Searching for dependencies of ignition-fuel_tools4
-- Found CURL: /usr/lib/x86_64-linux-gnu/libcurl.so (found version "7.68.0")  
-- Checking for module 'jsoncpp'
--   Found jsoncpp, version 1.7.4
-- Found JSONCPP: TRUE  
-- Checking for module 'libzip'
--   Found libzip, version 1.5.1
-- Found ZIP: TRUE  
-- Looking for ignition-common3 -- found version 3.14.2
-- Looking for ignition-math6 -- found version 6.13.0
-- Looking for ignition-msgs5 -- found version 5.10.0
-- Checking for one of the modules 'glib-2.0'
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") 
-- Found OpenCV: /usr (found version "4.2.0") 
-- Found TinyXML: /usr/lib/x86_64-linux-gnu/libtinyxml.so  
-- Checking for module 'gstreamer-1.0 >= 1.0'
--   Found gstreamer-1.0 , version 1.16.3
-- Checking for module 'gstreamer-base-1.0 >= 1.0'
--   Found gstreamer-base-1.0 , version 1.16.3
-- Checking for module 'gstreamer-app-1.0 >= 1.0'
--   Found gstreamer-app-1.0 , version 1.16.3
-- Found GStreamer: GSTREAMER_INCLUDE_DIRS;GSTREAMER_LIBRARIES;GSTREAMER_VERSION;GSTREAMER_BASE_INCLUDE_DIRS;GSTREAMER_BASE_LIBRARIES (Required is at least version "1.0") 
-- Checking for module 'OGRE'
--   Found OGRE, version 1.9.0
-- Building klt_feature_tracker without catkin
-- Building OpticalFlow with OpenCV
-- Found MAVLink: /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/mavlink (found version "2.0") 
-- catkin DISABLED
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found version "3.6.1") 
-- Checking for module 'protobuf'
--   Found protobuf, version 3.6.1
-- Gazebo version: 11.12
-- Found GStreamer: adding gst_camera_plugin
-- Found GStreamer: adding gst_video_stream_widget
CMake Error at CMakeLists.txt:516 (install):
  install FILES given directory
  "/home/a/PX4/PX4-Autopilot/Tools/sitl_gazebo/worlds/hcaa_pylon_setup" to
  install.

-- Configuring incomplete, errors occurred!
See also "/home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/build_gazebo/CMakeFiles/CMakeOutput.log".
See also "/home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/build_gazebo/CMakeFiles/CMakeError.log".
[93/922] Performing configure step for 'libmicroxrceddsclient_project'
loading initial cache file /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/src/modules/microdds_client/tmp/libmicroxrceddsclient_project-cache-RelWithDebInfo.cmake
-- The C compiler identification is GNU 9.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- The CXX compiler identification is GNU 9.4.0
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Configuring done
-- Generating done
-- Build files have been written to: /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/src/modules/microdds_client/src/libmicroxrceddsclient_project-build
[300/922] Building CXX object src/lib/...sensor_calibration.dir/Barometer.cpp.o
FAILED: external/Stamp/sitl_gazebo/sitl_gazebo-configure 
cd /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/build_gazebo && /usr/bin/cmake -DCMAKE_INSTALL_PREFIX=/usr/local -DSEND_ODOMETRY_DATA=ON -DGENERATE_ROS_MODELS=ON -GNinja /home/a/PX4/PX4-Autopilot/Tools/sitl_gazebo && /usr/bin/cmake -E touch /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/external/Stamp/sitl_gazebo/sitl_gazebo-configure
[318/922] Performing build step for 'libmicroxrceddsclient_project'
[1/16] Creating directories for 'microcdr'
[2/16] Performing download step (git clone) for 'microcdr'
Cloning into 'microcdr'...
Note: switching to 'v2.0.0'.

You are in 'detached HEAD' state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by switching back to a branch.

If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -c with the switch command. Example:

  git switch -c <new-branch-name>

Or undo this operation with:

  git switch -

Turn off this advice by setting config variable advice.detachedHead to false

HEAD is now at 1c712a0 Release v2.0.0
[3/16] No patch step for 'microcdr'
[4/16] Performing update step for 'microcdr'
[5/16] Performing configure step for 'microcdr'
loading initial cache file /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/src/modules/microdds_client/src/libmicroxrceddsclient_project-build/microcdr/tmp/microcdr-cache-RelWithDebInfo.cmake
-- The C compiler identification is GNU 9.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- The CXX compiler identification is GNU 9.4.0
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Configuring done
-- Generating done
-- Build files have been written to: /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/src/modules/microdds_client/src/libmicroxrceddsclient_project-build/microcdr/src/microcdr-build
[6/16] Performing build step for 'microcdr'
[1/8] Creating directories for 'ucdr'
[2/8] No download step for 'ucdr'
[3/8] No update step for 'ucdr'
[4/8] No patch step for 'ucdr'
[5/8] Performing configure step for 'ucdr'
loading initial cache file /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/src/modules/microdds_client/src/libmicroxrceddsclient_project-build/microcdr/src/microcdr-build/ucdr-prefix/tmp/ucdr-cache-RelWithDebInfo.cmake
-- Configuring done
-- Generating done
-- Build files have been written to: /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/src/modules/microdds_client/src/libmicroxrceddsclient_project-build/microcdr/src/microcdr-build
[6/8] Performing build step for 'ucdr'
[1/6] Building C object CMakeFiles/microcdr.dir/src/c/types/string.c.o
[2/6] Building C object CMakeFiles/microcdr.dir/src/c/common.c.o
[3/6] Building C object CMakeFiles/microcdr.dir/src/c/types/sequence.c.o
[4/6] Building C object CMakeFiles/microcdr.dir/src/c/types/array.c.o
[5/6] Building C object CMakeFiles/microcdr.dir/src/c/types/basic.c.o
[6/6] Linking C static library libmicrocdr.a
[7/8] No install step for 'ucdr'
[8/8] Completed 'ucdr'
[7/16] Performing install step for 'microcdr'
[0/1] Install the project...
-- Install configuration: "RelWithDebInfo"
-- Installing: /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/src/modules/microdds_client/src/libmicroxrceddsclient_project-build/temp_install/microcdr-2.0.0/lib/libmicrocdr.a
-- Installing: /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/src/modules/microdds_client/src/libmicroxrceddsclient_project-build/temp_install/microcdr-2.0.0/include/ucdr
-- Installing: /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/src/modules/microdds_client/src/libmicroxrceddsclient_project-build/temp_install/microcdr-2.0.0/include/ucdr/microcdr.h
-- Installing: /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/src/modules/microdds_client/src/libmicroxrceddsclient_project-build/temp_install/microcdr-2.0.0/include/ucdr/visibility.h
-- Installing: /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/src/modules/microdds_client/src/libmicroxrceddsclient_project-build/temp_install/microcdr-2.0.0/include/ucdr/config.h
-- Installing: /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/src/modules/microdds_client/src/libmicroxrceddsclient_project-build/temp_install/microcdr-2.0.0/share/microcdr/cmake/microcdrTargets.cmake
-- Installing: /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/src/modules/microdds_client/src/libmicroxrceddsclient_project-build/temp_install/microcdr-2.0.0/share/microcdr/cmake/microcdrTargets-relwithdebinfo.cmake
-- Installing: /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/src/modules/microdds_client/src/libmicroxrceddsclient_project-build/temp_install/microcdr-2.0.0/share/microcdr/cmake/microcdrConfig.cmake
-- Installing: /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/src/modules/microdds_client/src/libmicroxrceddsclient_project-build/temp_install/microcdr-2.0.0/share/microcdr/cmake/microcdrConfigVersion.cmake
[8/16] Completed 'microcdr'
[9/16] Creating directories for 'uclient'
[10/16] No download step for 'uclient'
[11/16] No update step for 'uclient'
[12/16] No patch step for 'uclient'
[13/16] Performing configure step for 'uclient'
loading initial cache file /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/src/modules/microdds_client/src/libmicroxrceddsclient_project-build/uclient-prefix/tmp/uclient-cache-RelWithDebInfo.cmake
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Configuring done
-- Generating done
-- Build files have been written to: /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/src/modules/microdds_client/src/libmicroxrceddsclient_project-build
[14/16] Performing build step for 'uclient'
[1/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/input_best_effort_stream.c.o
[2/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/seq_num.c.o
[3/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/util/time.c.o
[4/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/stream_id.c.o
[5/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/object_id.c.o
[6/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/serialization/xrce_header.c.o
[7/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/submessage.c.o
[8/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/serialization/xrce_subheader.c.o
[9/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/output_best_effort_stream.c.o
[10/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/common_create_entities.c.o
[11/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/stream_storage.c.o
[12/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/create_entities_ref.c.o
[13/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/util/ping.c.o
[14/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/profile/transport/ip/ip_posix.c.o
[15/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/profile/transport/ip/udp/udp_transport.c.o
[16/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/session_info.c.o
[17/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/profile/transport/serial/serial_transport_posix.c.o
[18/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/profile/transport/serial/serial_transport.c.o
[19/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/read_access.c.o
[20/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/create_entities_xml.c.o
[21/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/profile/transport/ip/udp/udp_transport_posix.c.o
[22/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/profile/transport/custom/custom_transport.c.o
[23/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/input_reliable_stream.c.o
[24/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/create_entities_bin.c.o
[25/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/output_reliable_stream.c.o
[26/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/write_access.c.o
[27/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/profile/transport/stream_framing/stream_framing_protocol.c.o
[28/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/session.c.o
[29/30] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/serialization/xrce_types.c.o
[30/30] Linking C static library libmicroxrcedds_client.a
[15/16] No install step for 'uclient'
[16/16] Completed 'uclient'
ninja: build stopped: subcommand failed.
make: *** [Makefile:230: px4_sitl_rtps] Error 1
nhma20 commented 1 year ago

Hi,

This is the first error I can see in the output:

CMake Error at CMakeLists.txt:516 (install): install FILES given directory "/home/a/PX4/PX4-Autopilot/Tools/sitl_gazebo/worlds/hcaa_pylon_setup" to install.

Looks like it has something to do with the custom environment that gets installed. But it should not try to install that file as a world, but as a model intead. Did you run the install script from this repository?

Did you change any of the files after cloning this repository?

Can you check if /home/a/PX4/PX4-Autopilot/Tools/sitl_gazebo/worlds/hca_full_pylon_setup.world exists?

Can you still run the simulation without a world, like so: make px4_sitl_rtps gazebo_iris

Z123-Y456 commented 1 year ago

Hi, Thanks for your reply. When I try install.sh again and make px4_sitl_rtps gazebo_iris__hca_full_pylon_setup, that error disappeared. The gazebo can be started with some errors, this is the output of the errors:

pxh> INFO  [tone_alarm] home set
INFO  [tone_alarm] notify negative
TIFFFieldWithTag: Internal error, unknown tag 0x829a.
TIFFFieldWithTag: Internal error, unknown tag 0x829d.
TIFFFieldWithTag: Internal error, unknown tag 0x8822.
TIFFFieldWithTag: Internal error, unknown tag 0x8824.
TIFFFieldWithTag: Internal error, unknown tag 0x8827.
TIFFFieldWithTag: Internal error, unknown tag 0x8828.
TIFFFieldWithTag: Internal error, unknown tag 0x9000.
TIFFFieldWithTag: Internal error, unknown tag 0x9003.
TIFFFieldWithTag: Internal error, unknown tag 0x9004.
TIFFFieldWithTag: Internal error, unknown tag 0x9101.
TIFFFieldWithTag: Internal error, unknown tag 0x9102.
TIFFFieldWithTag: Internal error, unknown tag 0x9201.
TIFFFieldWithTag: Internal error, unknown tag 0x9202.
TIFFFieldWithTag: Internal error, unknown tag 0x9203.
TIFFFieldWithTag: Internal error, unknown tag 0x9204.
TIFFFieldWithTag: Internal error, unknown tag 0x9205.
TIFFFieldWithTag: Internal error, unknown tag 0x9206.
TIFFFieldWithTag: Internal error, unknown tag 0x9207.
TIFFFieldWithTag: Internal error, unknown tag 0x9208.
TIFFFieldWithTag: Internal error, unknown tag 0x9209.
TIFFFieldWithTag: Internal error, unknown tag 0x920a.
TIFFFieldWithTag: Internal error, unknown tag 0x9214.
TIFFFieldWithTag: Internal error, unknown tag 0x927c.
TIFFFieldWithTag: Internal error, unknown tag 0x9286.
TIFFFieldWithTag: Internal error, unknown tag 0x9290.
TIFFFieldWithTag: Internal error, unknown tag 0x9291.
TIFFFieldWithTag: Internal error, unknown tag 0x9292.
TIFFFieldWithTag: Internal error, unknown tag 0xa000.
TIFFFieldWithTag: Internal error, unknown tag 0xa001.
TIFFFieldWithTag: Internal error, unknown tag 0xa002.
TIFFFieldWithTag: Internal error, unknown tag 0xa003.
TIFFFieldWithTag: Internal error, unknown tag 0xa004.
TIFFFieldWithTag: Internal error, unknown tag 0xa20b.
TIFFFieldWithTag: Internal error, unknown tag 0xa20c.
TIFFFieldWithTag: Internal error, unknown tag 0xa20e.
TIFFFieldWithTag: Internal error, unknown tag 0xa20f.
TIFFFieldWithTag: Internal error, unknown tag 0xa210.
TIFFFieldWithTag: Internal error, unknown tag 0xa214.
TIFFFieldWithTag: Internal error, unknown tag 0xa215.
TIFFFieldWithTag: Internal error, unknown tag 0xa217.
TIFFFieldWithTag: Internal error, unknown tag 0xa300.
TIFFFieldWithTag: Internal error, unknown tag 0xa301.
TIFFFieldWithTag: Internal error, unknown tag 0xa302.
TIFFFieldWithTag: Internal error, unknown tag 0xa401.
TIFFFieldWithTag: Internal error, unknown tag 0xa402.
TIFFFieldWithTag: Internal error, unknown tag 0xa403.
TIFFFieldWithTag: Internal error, unknown tag 0xa404.
TIFFFieldWithTag: Internal error, unknown tag 0xa405.
TIFFFieldWithTag: Internal error, unknown tag 0xa406.
TIFFFieldWithTag: Internal error, unknown tag 0xa407.
TIFFFieldWithTag: Internal error, unknown tag 0xa408.
TIFFFieldWithTag: Internal error, unknown tag 0xa409.
TIFFFieldWithTag: Internal error, unknown tag 0xa40a.
TIFFFieldWithTag: Internal error, unknown tag 0xa40b.
TIFFFieldWithTag: Internal error, unknown tag 0xa40c.
TIFFFieldWithTag: Internal error, unknown tag 0xa407.
TIFFFieldWithTag: Internal error, unknown tag 0xa407.
TIFFFieldWithTag: Internal error, unknown tag 0xa420

I can see the screen of gazebo that some places are incomplete. Additionally, I cannot open the linkhttps://gitlab.drones4energy.dk/obs/Drones4Energy_SDU_Only_code/-/tree/iROS2021/Tools/simulationAssets.

I am very grateful for this project. It very detailed and I have learned a lot as a novice. If I have some code content that I don't understand, can I ask you? Thank you very mush!

nhma20 commented 1 year ago

Hi,

I am not sure where those errors come from; I get them as well but have not experienced any issues with the simulation because of them.

How can you see that some places are incomplete? Could you post a screenshot here? It should look similar to this: https://raw.githubusercontent.com/nhma20/mmWave_ROS2_PX4_Gazebo/main/Pictures/Screenshot_from_2021-07-06_09-54-53.png

Which branch of the repository are you using? If you use the default branch (18OCT2022) you should not need the additional files from that link since the needed files will automatically download and install when you run the install.sh script.

I am glad you find it useful, and you are of course welcome to ask questions regarding the code.

Z123-Y456 commented 1 year ago

Yes, I used the default branch(18OCT2022) and I have run the install.sh. The screenshot is Screenshot from 2022-11-12 20-30-41 And the all output is

[0/4] Performing build step for 'sitl_gazebo'
ninja: no work to do.
[3/4] cd /home/a/PX4/PX4-Autopilot/bui.../PX4/PX4-Autopilot/build/px4_sitl_rtps
SITL ARGS
sitl_bin: /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/bin/px4
debugger: none
program: gazebo
model: iris
world: hca_full_pylon_setup
src_path: /home/a/PX4/PX4-Autopilot
build_path: /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps
GAZEBO_PLUGIN_PATH :/home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/build_gazebo
GAZEBO_MODEL_PATH :/home/a/PX4/PX4-Autopilot/Tools/sitl_gazebo/models
LD_LIBRARY_PATH /usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/foxy/opt/yaml_cpp_vendor/lib:/opt/ros/foxy/opt/rviz_ogre_vendor/lib:/opt/ros/foxy/lib/x86_64-linux-gnu:/opt/ros/foxy/lib:/home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/build_gazebo
Using: /home/a/PX4/PX4-Autopilot/Tools/sitl_gazebo/models/iris/iris.sdf
[WARN] [1668255999.229203446] [rcl]: Found remap rule '~/out:=laser_scan'. This syntax is deprecated. Use '--ros-args --remap ~/out:=laser_scan' instead.
[WARN] [1668255999.231367521] [rcl]: Found remap rule '~/out:=laser_scan'. This syntax is deprecated. Use '--ros-args --remap ~/out:=laser_scan' instead.
[WARN] [1668255999.471062245] [rcl]: Found remap rule 'image_raw:=raw_img'. This syntax is deprecated. Use '--ros-args --remap image_raw:=raw_img' instead.
[WARN] [1668255999.471094163] [rcl]: Found remap rule 'camera_info:=info'. This syntax is deprecated. Use '--ros-args --remap camera_info:=info' instead.
[WARN] [1668255999.473094386] [rcl]: Found remap rule 'image_raw:=raw_img'. This syntax is deprecated. Use '--ros-args --remap image_raw:=raw_img' instead.
[WARN] [1668255999.473130076] [rcl]: Found remap rule 'camera_info:=info'. This syntax is deprecated. Use '--ros-args --remap camera_info:=info' instead.
[INFO] [1668255999.477805692] [plugin_name]: Publishing camera info to [/cable_camera/camera_info]
SITL COMMAND: "/home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/bin/px4" "/home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps"/etc -s etc/init.d-posix/rcS -t "/home/a/PX4/PX4-Autopilot"/test_data
Creating symlink /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/etc -> /home/a/PX4/PX4-Autopilot/build/px4_sitl_rtps/tmp

_____  __   __    ___ 
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
INFO  [init] found model autostart file as SYS_AUTOSTART=10016
INFO  [param] selected parameter default file eeprom/parameters_10016
INFO  [parameters] BSON document size 291 bytes, decoded 291 bytes (INT32:12, FLOAT:3)
[param] Loaded: eeprom/parameters_10016
INFO  [dataman] data manager file './dataman' size is 7866640 bytes
PX4 SIM HOST: localhost
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4560
INFO  [simulator] Simulator connected on TCP port 4560.
Gazebo multi-robot simulator, version 11.12.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

INFO  [commander] LED: open /dev/led0 failed (22)
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 10.16.74.120
INFO  [init] Mixer: etc/mixers/quad_x.main.mix on /dev/pwm_output0
INFO  [init] setting PWM_AUX_OUT none
TIFFFieldWithTag: Internal error, unknown tag 0x829a.
TIFFFieldWithTag: Internal error, unknown tag 0x829d.
TIFFFieldWithTag: Internal error, unknown tag 0x8822.
TIFFFieldWithTag: Internal error, unknown tag 0x8824.
TIFFFieldWithTag: Internal error, unknown tag 0x8827.
TIFFFieldWithTag: Internal error, unknown tag 0x8828.
TIFFFieldWithTag: Internal error, unknown tag 0x9000.
TIFFFieldWithTag: Internal error, unknown tag 0x9003.
TIFFFieldWithTag: Internal error, unknown tag 0x9004.
TIFFFieldWithTag: Internal error, unknown tag 0x9101.
TIFFFieldWithTag: Internal error, unknown tag 0x9102.
TIFFFieldWithTag: Internal error, unknown tag 0x9201.
TIFFFieldWithTag: Internal error, unknown tag 0x9202.
TIFFFieldWithTag: Internal error, unknown tag 0x9203.
TIFFFieldWithTag: Internal error, unknown tag 0x9204.
TIFFFieldWithTag: Internal error, unknown tag 0x9205.
TIFFFieldWithTag: Internal error, unknown tag 0x9206.
TIFFFieldWithTag: Internal error, unknown tag 0x9207.
TIFFFieldWithTag: Internal error, unknown tag 0x9208.
TIFFFieldWithTag: Internal error, unknown tag 0x9209.
TIFFFieldWithTag: Internal error, unknown tag 0x920a.
TIFFFieldWithTag: Internal error, unknown tag 0x9214.
TIFFFieldWithTag: Internal error, unknown tag 0x927c.
TIFFFieldWithTag: Internal error, unknown tag 0x9286.
TIFFFieldWithTag: Internal error, unknown tag 0x9290.
TIFFFieldWithTag: Internal error, unknown tag 0x9291.
TIFFFieldWithTag: Internal error, unknown tag 0x9292.
TIFFFieldWithTag: Internal error, unknown tag 0xa000.
TIFFFieldWithTag: Internal error, unknown tag 0xa001.
TIFFFieldWithTag: Internal error, unknown tag 0xa002.
TIFFFieldWithTag: Internal error, unknown tag 0xa003.
TIFFFieldWithTag: Internal error, unknown tag 0xa004.
TIFFFieldWithTag: Internal error, unknown tag 0xa20b.
TIFFFieldWithTag: Internal error, unknown tag 0xa20c.
TIFFFieldWithTag: Internal error, unknown tag 0xa20e.
TIFFFieldWithTag: Internal error, unknown tag 0xa20f.
TIFFFieldWithTag: Internal error, unknown tag 0xa210.
TIFFFieldWithTag: Internal error, unknown tag 0xa214.
TIFFFieldWithTag: Internal error, unknown tag 0xa215.
TIFFFieldWithTag: Internal error, unknown tag 0xa217.
TIFFFieldWithTag: Internal error, unknown tag 0xa300.
TIFFFieldWithTag: Internal error, unknown tag 0xa301.
TIFFFieldWithTag: Internal error, unknown tag 0xa302.
TIFFFieldWithTag: Internal error, unknown tag 0xa401.
TIFFFieldWithTag: Internal error, unknown tag 0xa402.
TIFFFieldWithTag: Internal error, unknown tag 0xa403.
TIFFFieldWithTag: Internal error, unknown tag 0xa404.
TIFFFieldWithTag: Internal error, unknown tag 0xa405.
TIFFFieldWithTag: Internal error, unknown tag 0xa406.
TIFFFieldWithTag: Internal error, unknown tag 0xa407.
TIFFFieldWithTag: Internal error, unknown tag 0xa408.
TIFFFieldWithTag: Internal error, unknown tag 0xa409.
TIFFFieldWithTag: Internal error, unknown tag 0xa40a.
TIFFFieldWithTag: Internal error, unknown tag 0xa40b.
TIFFFieldWithTag: Internal error, unknown tag 0xa40c.
TIFFFieldWithTag: Internal error, unknown tag 0xa407.
TIFFFieldWithTag: Internal error, unknown tag 0xa407.
TIFFFieldWithTag: Internal error, unknown tag 0xa420.
INFO  [micrortps_client] UDP transport: ip address: 127.0.0.1; recv port: 2019; send port: 2020
INFO  [micrortps_client] UDP transport: Trying to connect...
INFO  [micrortps_client] UDP transport: Connected to server!
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/2022-11-12/12_26_42.ulg   
INFO  [logger] Opened full log file: ./log/2022-11-12/12_26_42.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> INFO  [mavlink] partner IP: 127.0.0.1
WARN  [PreFlightCheck] Manual control unavailable
INFO  [tone_alarm] home set
INFO  [tone_alarm] notify negative
TIFFFieldWithTag: Internal error, unknown tag 0x829a.
TIFFFieldWithTag: Internal error, unknown tag 0x829d.
TIFFFieldWithTag: Internal error, unknown tag 0x8822.
TIFFFieldWithTag: Internal error, unknown tag 0x8824.
TIFFFieldWithTag: Internal error, unknown tag 0x8827.
TIFFFieldWithTag: Internal error, unknown tag 0x8828.
TIFFFieldWithTag: Internal error, unknown tag 0x9000.
TIFFFieldWithTag: Internal error, unknown tag 0x9003.
TIFFFieldWithTag: Internal error, unknown tag 0x9004.
TIFFFieldWithTag: Internal error, unknown tag 0x9101.
TIFFFieldWithTag: Internal error, unknown tag 0x9102.
TIFFFieldWithTag: Internal error, unknown tag 0x9201.
TIFFFieldWithTag: Internal error, unknown tag 0x9202.
TIFFFieldWithTag: Internal error, unknown tag 0x9203.
TIFFFieldWithTag: Internal error, unknown tag 0x9204.
TIFFFieldWithTag: Internal error, unknown tag 0x9205.
TIFFFieldWithTag: Internal error, unknown tag 0x9206.
TIFFFieldWithTag: Internal error, unknown tag 0x9207.
TIFFFieldWithTag: Internal error, unknown tag 0x9208.
TIFFFieldWithTag: Internal error, unknown tag 0x9209.
TIFFFieldWithTag: Internal error, unknown tag 0x920a.
TIFFFieldWithTag: Internal error, unknown tag 0x9214.
TIFFFieldWithTag: Internal error, unknown tag 0x927c.
TIFFFieldWithTag: Internal error, unknown tag 0x9286.
TIFFFieldWithTag: Internal error, unknown tag 0x9290.
TIFFFieldWithTag: Internal error, unknown tag 0x9291.
TIFFFieldWithTag: Internal error, unknown tag 0x9292.
TIFFFieldWithTag: Internal error, unknown tag 0xa000.
TIFFFieldWithTag: Internal error, unknown tag 0xa001.
TIFFFieldWithTag: Internal error, unknown tag 0xa002.
TIFFFieldWithTag: Internal error, unknown tag 0xa003.
TIFFFieldWithTag: Internal error, unknown tag 0xa004.
TIFFFieldWithTag: Internal error, unknown tag 0xa20b.
TIFFFieldWithTag: Internal error, unknown tag 0xa20c.
TIFFFieldWithTag: Internal error, unknown tag 0xa20e.
TIFFFieldWithTag: Internal error, unknown tag 0xa20f.
TIFFFieldWithTag: Internal error, unknown tag 0xa210.
TIFFFieldWithTag: Internal error, unknown tag 0xa214.
TIFFFieldWithTag: Internal error, unknown tag 0xa215.
TIFFFieldWithTag: Internal error, unknown tag 0xa217.
TIFFFieldWithTag: Internal error, unknown tag 0xa300.
TIFFFieldWithTag: Internal error, unknown tag 0xa301.
TIFFFieldWithTag: Internal error, unknown tag 0xa302.
TIFFFieldWithTag: Internal error, unknown tag 0xa401.
TIFFFieldWithTag: Internal error, unknown tag 0xa402.
TIFFFieldWithTag: Internal error, unknown tag 0xa403.
TIFFFieldWithTag: Internal error, unknown tag 0xa404.
TIFFFieldWithTag: Internal error, unknown tag 0xa405.
TIFFFieldWithTag: Internal error, unknown tag 0xa406.
TIFFFieldWithTag: Internal error, unknown tag 0xa407.
TIFFFieldWithTag: Internal error, unknown tag 0xa408.
TIFFFieldWithTag: Internal error, unknown tag 0xa409.
TIFFFieldWithTag: Internal error, unknown tag 0xa40a.
TIFFFieldWithTag: Internal error, unknown tag 0xa40b.
TIFFFieldWithTag: Internal error, unknown tag 0xa40c.
TIFFFieldWithTag: Internal error, unknown tag 0xa407.
TIFFFieldWithTag: Internal error, unknown tag 0xa407.
TIFFFieldWithTag: Internal error, unknown tag 0xa420.
nhma20 commented 1 year ago

Looks to me like it is working then.

Can you succesfully run the microRTPS agent and ROS2 nodes? Can you fly the drone with QGroundControl?

Z123-Y456 commented 1 year ago

I just left my working space. I will test them tomorrow, about 12 hours later. Then I will show you the results，it is ok? At last, I really appreciate your reply.

nhma20 commented 1 year ago

Sounds good

Z123-Y456 commented 1 year ago

I just test it. It is working well. Thanks for your help.

I found that I have to add the plugin libgazebo_ros_camera.so to PX4-Autopilot/build/px4_sitl_rtps/build_gazebo/ manually, maybe we can modify the PX4-Autopilot/Tools/sitl_gazebo/CMakeLists.txt to fix it.

Then, how to add new worlds/models to ~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake (Oscar's worlds/models from https://gitlab.drones4energy.dk/obs/Drones4Energy_SDU_Only_code/-/tree/iROS2021/Tools/simulationAssets). (It is in your README.md->MISC->14). I can not open this link. Do you have more information regarding add new worlds and models?

nhma20 commented 1 year ago

Great to hear that it works.

So the camera plugin did not work without you manually placing it in that folder? And from where did you get the libgazebo_ros_camera.so file? When I run the instructions in this repository from the beginning, that file is automatically placed in the correct directory.

The models found at that link are the same ones that are automatically downladed and installed, it's the hca_full_pylon_setup world files. The link should probably be removed to remove any misunderstanding.

If you want to add new worlds and models, you have to place them in ../PX4-Autopilot/Tools/sitl_gazebo/worlds and ../PX4-Autopilot/Tools/sitl_gazebo/models. Then you have to edit the ../mmWave_ROS2_PX4_Gazebo/cmake/sitl_targets_gazebo.cmake and ../mmWave_ROS2_PX4_Gazebo/cmake/sitl_target.cmake files to add the names of the new models and worlds (under set(models .. ) and set(worlds .. )) and run this repository's install.sh script again.

Z123-Y456 commented 1 year ago

Thanks for your reply.

The camera plugin did not work before I place it in that folded. I copy the libgazebo_ros_camera.so from /opt/ros/foxy/lib. I found that the code of adding plugins in /PX4-Autopilot/Tools/sitl_gazebo/CMakeLists.txt do not include 'gazebo_ros_camera_plugin'. 

set(plugins
  gazebo_airspeed_plugin
  gazebo_camera_manager_plugin
  gazebo_gps_plugin
  gazebo_groundtruth_plugin
  gazebo_irlock_plugin
  gazebo_lidar_plugin
  gazebo_opticalflow_mockup_plugin
  gazebo_opticalflow_plugin
  gazebo_sonar_plugin
  gazebo_uuv_plugin
  gazebo_vision_plugin
  gazebo_controller_interface
  gazebo_gimbal_controller_plugin
  gazebo_imu_plugin
  gazebo_mavlink_interface
  gazebo_motor_model
  gazebo_multirotor_base_plugin
  gazebo_wind_plugin
  gazebo_magnetometer_plugin
  gazebo_barometer_plugin
  gazebo_catapult_plugin
  gazebo_usv_dynamics_plugin
  gazebo_parachute_plugin
  gazebo_airship_dynamics_plugin
  gazebo_drop_plugin
  )

Regarding how to add new worlds and models, what puzzle me is the '../mmWave_ROS2_PX4_Gazebo/cmake/sitl_target.cmake'. Because it is a new file, I do not know how it is called. Maybe I should learn more about cmake.

nhma20 commented 1 year ago

I am not completely sure how the ros camera plugin is added. For me it seems to work without needing any extra steps. Did you try to add gazebo_ros_camera_plugin to the CMakeLists.txt file to see if it will add the libgazebo_ros_camera.so that you were missing?

Z123-Y456 commented 1 year ago

I do not know how to add this plugin to the CMakeLists.txt. Because the plugins that have been added are created from ../PX4-Autopilot/Tools/sitl_gazebo/src , the address of 'gazebo_ros_camera_plugin' is /opt/ros/foxy/lib. What should I do if I want to add the plugin. Some code of adding plugins is shown follow:

add_library(gazebo_airspeed_plugin SHARED src/gazebo_airspeed_plugin.cpp)
add_library(gazebo_camera_manager_plugin SHARED src/gazebo_camera_manager_plugin.cpp)
add_library(gazebo_gps_plugin SHARED src/gazebo_gps_plugin.cpp)
......

set(plugins
  gazebo_airspeed_plugin
  gazebo_camera_manager_plugin
  gazebo_gps_plugin
  ......
  )
nhma20 commented 1 year ago

As I mentioned before, I am not completely sure how plugins are added. If you figure it out, please mention it here for future reference.

Since your main issues seem to be resolved, I will close this issue. You are welcome to open a new issue if you have other issues.

Z123-Y456 commented 1 year ago

Of course, the main issues are resolved. Thank you very much for your explanation.