Unable to launch iris_fpv_cam, iris_depth_camera and others

[Rezenders]

Hello,

I am trying to run a mavros + gazebo simulation with an iris model with a camera, but I am not able to do so.

When I run a simulation with the following command everything works just fine (this model does not have a camera):

$ roslaunch px4 mavros_posix_sitl.launch 

However, when I run a simulation with any of the models iris_fpv_cam, iris_depth_camera, iris_downward_depth_camera, or iris_stereo_camera it does not work, I am running the following command:

$ roslaunch px4 mavros_posix_sitl.launch vehicle:=iris_depth_camera

I get the error:

NFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
Error: Unknown model 'iris_depth_camera'
ERROR [px4] Startup script returned with return value: 256
process[gazebo-3]: started with pid [27017]
process[gazebo_gui-4]: started with pid [27026]
process[vehicle_spawn_akai_ubuntu_26975_7396985297787011639-5]: started with pid [27031]
process[mavros-6]: started with pid [27032]
================================================================================REQUIRED process [sitl-2] has died!
process has died [pid 27004, exit code 255, cmd /home/gus/Documents/git/Firmware/build/px4_sitl_default/bin/px4 /home/gus/Documents/git/Firmware/ROMFS/px4fmu_common -s etc/init.d-posix/rcS __name:=sitl __log:=/home/gus/.ros/log/a0f8afbc-909b-11ea-9620-9822ef71a76d/sitl-2.log].
log file: /home/gus/.ros/log/a0f8afbc-909b-11ea-9620-9822ef71a76d/sitl-2*.log
Initiating shutdown!
================================================================================

As mentioned in the issue #228 I tried to create a launch file changing the vehicle and sdf arg, but it did not work:

<?xml version="1.0"?>
<launch>
    <arg name="vehicle" default="iris_depth_camera"/>
    <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>

    <include file="$(find px4)/launch/mavros_posix_sitl.launch">
        <arg name="respawn_gazebo" value="true"/>
        <arg name="respawn_mavros" value="true"/>
        <arg name="vehicle" value="$(arg vehicle)"/>
        <arg name="sdf" value="$(arg sdf)"/>
        <arg name="verbose" value="true"/>
    </include>
</launch>

When gazebo is open I can manually insert the models.

When building the Firmware repo I followed the instructions on https://dev.px4.io/v1.9.0/en/simulation/multi-vehicle-simulation.html:

$ cd Firmware_clone
$ git submodule update --init --recursive
$ DONT_RUN=1 make px4_sitl_default gazebo
$ source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
$ export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd):$(pwd)/Tools/sitl_gazebo

I found a similar question on ros answers: https://answers.ros.org/question/345462/trouble-running-gazebo-simulation-with-camera-plugin/

[mzwtju]

The launch file you created seem to be imcomplete
In mavros_posix_sitl.launch
add <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/iris_fpv_cam/iris_fpv_cam.sdf"/>
It should work.

[Rezenders]

It worked, thanks!
I left the vehicle name as iris and used the sdf arg as you described

[induchandran77]

this works for single vehicle. How can I do it for multiple vehicles?
I use multi_uav_mavros_sitl.launch

[induchandran77]

<!-- vehicle model and config -->
<arg name="est" default="ekf2"/>
<arg name="vehicle" default="iris"/>
<arg name="ID" default="1"/>
<env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
<arg name="mavlink_udp_port" default="14560"/>
<arg name="mavlink_tcp_port" default="4560"/>
<arg name="gst_udp_port" default="5600"/>
<arg name="video_uri" default="5600"/>
<arg name="mavlink_cam_udp_port" default="14530"/>
<arg name="mavlink_id" value="$(eval 1 + arg('ID'))" />
<!-- PX4 configs -->
<arg name="interactive" default="true"/>
<!-- generate sdf vehicle model -->
<arg name="cmd" default="$(find mavlink_sitl_gazebo)/scripts/jinja_gen.py --stdout --mavlink_id=$(arg mavlink_id) --mavlink_udp_port=$(arg mavlink_udp_port) --mavlink_tcp_port=$(arg mavlink_tcp_port) --gst_udp_port=$(arg gst_udp_port) --video_uri=$(arg video_uri) --mavlink_cam_udp_port=$(arg mavlink_cam_udp_port) $(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf.jinja $(find mavlink_sitl_gazebo)"/>
<param command="$(arg cmd)" name="sdf_$(arg vehicle)$(arg ID)"/>
<!-- PX4 SITL -->
<arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
<arg     if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) -w sitl_$(arg vehicle)_$(arg ID) $(arg px4_command_arg1)">
</node>
<!-- spawn vehicle -->
<node name="$(anon vehicle_spawn)" pkg="gazebo_ros" type="spawn_model" output="screen" args="-sdf -param sdf_$(arg vehicle)$(arg ID) -model $(arg vehicle)$(arg ID) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>

[lijoe123]

Which verson you use? Noetic or melodic? @induchandran77

[induchandran77]

I use Noetic

[lijoe123]

So if in one vehicle, I only had the two topic of camera. And the realsense in the iris is weird. What about you? @induchandran77

[induchandran77]

No, I had image_raw and image_info topics listed. I guess it doesn't appear for you because the sdf file is not correctly loaded.

[nicolasfripp]

this works for single vehicle. How can I do it for multiple vehicles?
I use multi_uav_mavros_sitl.launch

Could you find a solution? @induchandran77