OctomapPlanner Error running gazebo --verbose worlds/iris_gas_station

When I execute gazebo --verbose worlds/iris_gas_station_demo.world, the warning shown below is displayed. My gazebo version is as follows

Nov 16 '18 03:11 BreederBai

You will have to install ardupilot_gazebo first.

Nov 16 '18 07:11 ayushgaud

@ayushgaud After I installed ardupilot_gazebo, I still get an error.

Nov 19 '18 04:11 BreederBai

You can safely ignore that error. Is the Gazebo simulator starting properly?

Nov 19 '18 06:11 ayushgaud

@ayushgaud The Gazebo simulator started up normally. I found a new problem. The plane crashed into the roof after taking off, like this.

2018-11-19 15-42-49 2018-11-19 15-44-01

Nov 19 '18 07:11 BreederBai

You need to change the mode to guided and then execute takeoff 1 or something to take off to a certain height which should be less than the height of the gas station.

Nov 19 '18 08:11 ayushgaud

it is hard to control, it is always moving when i am doing nothing, and it often out off controling and crashes after i run the takeoff command

Jul 16 '20 10:07 mei123hao

Error running gazebo --verbose worlds/iris_gas_station_demo.world