PX4
[Bug] the aircraft in QGC and gazebo are not moving after the preflight check was OK
Describe the bug
Using the software versions of px4(px4_sitl), gazebo garden and QGC for simulation, the preflight check was OK, but the aircraft in QGC and gazebo are not moving.
From the above figure, it can be seen that after 5 minutes and 30 seconds, the aircraft in QGC did not move, and so did the aircraft in Gazebo.
To Reproduce
make px4_sitl gz_x500- connect to the QGC by UDP.
Expected behavior
the aircraft in QGC and gazebo should follow the route and move after the preflight check was OK.
Screenshot / Media
No response
Flight Log
n/a
Software Version
Raspberry Pi 4b 8GB arm64
ver all HW arch: PX4_SITL PX4 git-hash: d2819ca7542c7fc1c3b122371d9dd35cb7005270 PX4 version: 1.14.0 80 (17694848) PX4 git-branch: main OS: Linux OS version: Release 5.15.0 (84869375) Build datetime: Sep 19 2023 12:14:40 Build uri: localhost Build variant: default Toolchain: GNU GCC, 11.4.0 PX4GUID: 1006554d49534954414c44494e4f30303030 UNKNOWN MCU
ubuntu@ubuntu:~$ gz sim --version Gazebo Sim, version 7.0.0 Copyright (C) 2018 Open Source Robotics Foundation. Released under the Apache 2.0 License.
Flight controller
px4_sitl
Vehicle type
None
How are the different components wired up (including port information)
No response
Additional context
No response
Any update? Please. Is it a bug? here is the log if you want to know. https://logs.px4.io/plot_app?log=191b9853-ee13-4475-b7d5-b6a134eaefc3
Is it a custom model? Looking at the log, the drone went full thrust but didn't move.
Not a custom model.
I'm new to px4 and just want to run an default example. The development environment I am using is Ubuntu 22.04 on Raspberry Pi 4b, and the QGroundControl environment is Windows 10. I followed the official steps which are Ubuntu Development Environment and Building PX4 Software to reproduce it. However, when running this example make px4_sitl gz_x500, it shows the above result that the plane does not move, and I don't know where the problem is.
Fig 1. UDP settings of referring website.
Fig 2. The moving aircraft of referring website.
Fig 3. I cannot reproduce it, and the aircraft is not moving.
make px4_sitl gz_x500
Both are done by running px4_sitl and gazebo, as well as QGroundControl linked by UDP, I imitated the settings and steps in Figure 1 and Figure 2 (referring to the website) step by step, but the aircraft still couldn't move. The blogger's aircraft can move, but mine cannot, but he uses the gazebo classic and I use the gazebo garden. I cannot reproduce it. It's very strange. Is this a bug?
Update:
When the development machine is replaced with a Linux amd64 virtual machine, the aircraft in the software simulation (make px4_sitl gz_x500) can be moved. The previous development machine for the aircraft that did not move was the Raspberry Pi 4b 8GB arm64. You may support this scenario. thanks
By the way, the error logs for aircraft not moving on the Raspberry Pi 4b 8GB arm64 are as follows. Compared to the aircraft can move on Linux 22.04 amd64, the additional error logs appear to be,
Error [Utils.cc:174] Missing element description for [persistent]
[Err] [MulticopterMotorModel.cc:255] Please specify a robotNamespace.
[Err] [MulticopterMotorModel.cc:255] Please specify a robotNamespace.
[Err] [MulticopterMotorModel.cc:255] Please specify a robotNamespace.
[Err] [MulticopterMotorModel.cc:255] Please specify a robotNamespace.
I see that @MichaelBosello seem to have encountered the same problem #21378. And this MulticopterMotorModel.cc is from the gz sim repository. Is this issue a bug in your gz sim repository @bperseghetti, or is there a difference in the binary release packages between amd64 and arm64? Thanks.
Suspect its a difference in the binary releases of one of the packages for arm64. (Same setup worked fine for amd64)
I had a similar issue using Gazebo Harmonic running on Ubuntu 22.04 natively on apple Silicon (m1Pro) with CrazySim_SITL.
I would be interested in tips on debugging to find the offending package.
