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[Bug] PX4 (v1.16.0-alpha2) + Ubuntu 24.04 + ROS2 Jazzy + Gazebo Harmonic leads to error #24159

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drfenixion opened this issue Dec 30, 2024 · 2 comments
Open

[Bug] PX4 (v1.16.0-alpha2) + Ubuntu 24.04 + ROS2 Jazzy + Gazebo Harmonic leads to error #24159

drfenixion opened this issue Dec 30, 2024 · 2 comments
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@drfenixion
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drfenixion commented Dec 30, 2024 •
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Describe the bug

Trying to run PX4 (v1.16.0-alpha2) with Ubuntu 24.04 + ROS2 Jazzy + Gazebo Harmonic. And get error.

I use modified docker and configs that previously sucessfully ran with PX4 (release/1.14) with Ubuntu 22.04 + ROS2 Iron + Gazebo Garden.

Gazebo is alredy ran.
Then i run PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=104001 PX4_GZ_MODEL_NAME=Robot make px4_sitl gz_Robot i get.

/PX4-Autopilot$ PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=104001 PX4_GZ_MODEL_NAME=Robot make px4_sitl gz_Robot
[0/1] cd /home/user/ros2/ws/src/multi_func_copter/modules/not_ros_packages/PX4-Auto...ulti_func_copter/modules/not_ros_packages/PX4-Autopilot/build/px4_sitl_default/bin/px4

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

px4 starting.

INFO  [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
env SYS_AUTOSTART: 104001
INFO  [param] selected parameter default file parameters.bson
INFO  [param] selected parameter backup file parameters_backup.bson
  SYS_AUTOCONFIG: curr: 0 -> new: 1
  SYS_AUTOSTART: curr: 0 -> new: 104001
  CAL_ACC0_ID: curr: 0 -> new: 1310988
  CAL_GYRO0_ID: curr: 0 -> new: 1310988
  CAL_ACC1_ID: curr: 0 -> new: 1310996
  CAL_GYRO1_ID: curr: 0 -> new: 1310996
  CAL_ACC2_ID: curr: 0 -> new: 1311004
  CAL_GYRO2_ID: curr: 0 -> new: 1311004
  CAL_MAG0_ID: curr: 0 -> new: 197388
  CAL_MAG0_PRIO: curr: -1 -> new: 50
  CAL_MAG1_ID: curr: 0 -> new: 197644
  CAL_MAG1_PRIO: curr: -1 -> new: 50
  SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
  SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
INFO  [dataman] data manager file './dataman' size is 7872608 bytes
INFO  [init] Gazebo simulator
INFO  [init] Standalone PX4 launch, waiting for Gazebo
INFO  [init] PX4_GZ_MODEL_NAME set, PX4 will attach to existing model
INFO  [gz_bridge] world: default, model name: Robot, simulation model: 
**ERROR [gz_bridge] timed out waiting for clock message
ERROR [gz_bridge] Task start failed (-1)
ERROR [init] gz_bridge failed to start and attach to existing model
ERROR [px4] Startup script returned with return value: 256
FAILED: src/modules/simulation/gz_bridge/CMakeFiles/gz_Robot /home/user/ros2/ws/src/multi_func_copter/modules/not_ros_packages/PX4-Autopilot/build/px4_sitl_default/src/modules/simulation/gz_bridge/CMakeFiles/gz_Robot 
cd /home/user/ros2/ws/src/multi_func_copter/modules/not_ros_packages/PX4-Autopilot/build/px4_sitl_default/src/modules/simulation/gz_bridge && /usr/bin/cmake -E env PX4_SIM_MODEL=gz_Robot /home/user/ros2/ws/src/multi_func_copter/modules/not_ros_packages/PX4-Autopilot/build/px4_sitl_default/bin/px4
ninja: build stopped: subcommand failed.
make: *** [Makefile:232: px4_sitl] Error 1**

if i run command manually /usr/bin/cmake -E env PX4_SIM_MODEL=gz_Robot /home/user/ros2/ws/src/multi_func_copter/modules/not_ros_packages/PX4-Autopilot/build/px4_sitl_default/bin/px4

I get:

~/ros2/ws/src/multi_func_copter/modules/not_ros_packages/PX4-Autopilot/build/px4_sitl_default/src/modules/simulation/gz_bridge$ /usr/bin/cmake -E env PX4_SIM_MODEL=gz_Robot /home/user/ros2/ws/src/multi_func_copter/modules/not_ros_packages/PX4-Autopilot/build/px4_sitl_default/bin/px4

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

px4 starting.

INFO  [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
INFO  [init] found model autostart file as SYS_AUTOSTART=104001
INFO  [param] selected parameter default file parameters.bson
INFO  [param] selected parameter backup file parameters_backup.bson
  SYS_AUTOCONFIG: curr: 0 -> new: 1
  SYS_AUTOSTART: curr: 0 -> new: 104001
  CAL_ACC0_ID: curr: 0 -> new: 1310988
  CAL_GYRO0_ID: curr: 0 -> new: 1310988
  CAL_ACC1_ID: curr: 0 -> new: 1310996
  CAL_GYRO1_ID: curr: 0 -> new: 1310996
  CAL_ACC2_ID: curr: 0 -> new: 1311004
  CAL_GYRO2_ID: curr: 0 -> new: 1311004
  CAL_MAG0_ID: curr: 0 -> new: 197388
  CAL_MAG0_PRIO: curr: -1 -> new: 50
  CAL_MAG1_ID: curr: 0 -> new: 197644
  CAL_MAG1_PRIO: curr: -1 -> new: 50
  SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
  SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
INFO  [dataman] data manager file './dataman' size is 7872608 bytes
INFO  [init] Gazebo simulator
INFO  [init] gazebo already running world: shapes
WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin.
INFO  [gz_bridge] world: shapes, model name: Robot_0, simulation model: Robot
INFO  [gz_bridge] Requested Model Position: 0,0,0,0,0,0
INFO  [gz_bridge] Model position z is less or equal 0.0, moving upwards
INFO  [lockstep_scheduler] setting initial absolute time to 660288000 us
INFO  [commander] LED: open /dev/led0 failed (22)
WARN  [health_and_arming_checks] Preflight Fail: Accel Sensor 0 missing
WARN  [health_and_arming_checks] Preflight Fail: barometer 0 missing
WARN  [health_and_arming_checks] Preflight Fail: ekf2 missing data
WARN  [health_and_arming_checks] Preflight Fail: Gyro Sensor 0 missing
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/2024-12-30/19_30_11.ulg
INFO  [logger] Opened full log file: ./log/2024-12-30/19_30_11.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] Too many arming check events (1, 14 > 14). Not reporting all
WARN  [health_and_arming_checks] Preflight Fail: Accel Sensor 0 missing
WARN  [health_and_arming_checks] Preflight Fail: barometer 0 missing
WARN  [health_and_arming_checks] Preflight Fail: ekf2 missing data
WARN  [health_and_arming_checks] Preflight Fail: Gyro Sensor 0 missing
WARN  [health_and_arming_checks] Preflight Fail: Compass Sensor 0 missing
INFO  [uxrce_dds_client] synchronized with time offset 1735586352397732us
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/failsafe_flags data writer, topic id: 88
INFO  [uxrce_dds_client] successfully created rt/fmu/out/manual_control_setpoint data writer, topic id: 137
INFO  [uxrce_dds_client] successfully created rt/fmu/out/position_setpoint_triplet data writer, topic id: 181INFO  [uxrce_dds_client] successfully created rt/fmu/out/timesync_status data writer, topic id: 236
INFO  [uxrce_dds_client] successfully created rt/fmu/out/vehicle_land_detected data writer, topic id: 265
INFO  [uxrce_dds_client] successfully created rt/fmu/out/vehicle_control_mode data writer, topic id: 259
INFO  [uxrce_dds_client] successfully created rt/fmu/out/vehicle_status data writer, topic id: 276
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

Infinity time sync.

Any idea? Or is it to imposible to run PX4 16 alpha version with Gazebo?

To Reproduce

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Expected behavior

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Screenshot / Media

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Flight Log

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Software Version

PX4 (v1.16.0-alpha2) with Ubuntu 24.04 + ROS2 Jazzy + Gazebo Harmonic

[submodule "modules/px4_msgs"]
	path = modules/px4_msgs
	url = https://github.com/PX4/px4_msgs.git
	branch = release/1.15
[submodule "modules/not_ros_packages/PX4-Autopilot"]
	path = modules/not_ros_packages/PX4-Autopilot
	url = https://github.com/drfenixion/PX4-Autopilot
	branch = v1.16.0-alpha2
[submodule "modules/px4_ros_com"]
	path = modules/px4_ros_com
	url = https://github.com/PX4/px4_ros_com
	branch = release/v1.14
[submodule "modules/not_ros_packages/Micro-XRCE-DDS-Agent"]
	path = modules/not_ros_packages/Micro-XRCE-DDS-Agent
	url = https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
	branch = master

Flight controller

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Vehicle type

None

How are the different components wired up (including port information)

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Additional context

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@drfenixion
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Can it be related to px4_msgs (release/1.15) and PX4-Autopilot (v1.16.0-alpha2) version incompatibility or it meaning only for PX4 <-> ROS2 communication?

@drfenixion
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drfenixion commented Dec 30, 2024 •
edited
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For PX4 (release/1.14) with Ubuntu 22.04 + ROS2 Iron + Gazebo Garden i use identical (release/1.14) branches and it works correct.

[submodule "modules/px4_msgs"]
	path = modules/px4_msgs
	url = https://github.com/PX4/px4_msgs.git
	branch = release/1.14
[submodule "modules/not_ros_packages/PX4-Autopilot"]
	path = modules/not_ros_packages/PX4-Autopilot
	url = https://github.com/PX4/PX4-Autopilot
	branch = release/1.14
[submodule "modules/px4_ros_com"]
	path = modules/px4_ros_com
	url = https://github.com/PX4/px4_ros_com
	branch = release/v1.14
[submodule "modules/not_ros_packages/Micro-XRCE-DDS-Agent"]
	path = modules/not_ros_packages/Micro-XRCE-DDS-Agent
	url = https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
	branch = master

@drfenixion drfenixion changed the title [Bug] [Bug] PX4 (v1.16.0-alpha2) + Ubuntu 24.04 + ROS2 Jazzy + Gazebo Harmonic leads to error Jan 6, 2025
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