PX4
[WIP] Hacky fixes for macOS Gazebo build
This PR contains every step I took to be able to run new Gazebo sim after running ./Tools/setup/macos.sh --sim-tools --reinstall setup bash file on my own system.
I have created this PR as a side note till we can fix them one by one.
Relevant PRs/Issues:
1 . https://github.com/PX4/PX4-Autopilot/issues/25794 2. https://github.com/PX4/PX4-Autopilot/issues/25205 3. https://github.com/PX4/PX4-Autopilot/issues/24192 4. https://github.com/PX4/PX4-Autopilot/pull/25957 5. https://github.com/PX4/PX4-Autopilot/pull/25935 6. https://github.com/PX4/PX4-Autopilot/pull/25767 7. https://github.com/PX4/PX4-Autopilot/pull/25204
🔎 FLASH Analysis
px4_fmu-v5x [Total VM Diff: 120 byte (0.01 %)]
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px4_fmu-v6x [Total VM Diff: 144 byte (0.01 %)]
FILE SIZE VM SIZE
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Updated: 2025-12-04T19:20:48
![github-actions[bot] avatar](https://avatars.githubusercontent.com/in/15368?v=4 "Published by a pub.dev verified publisher"){kind=small}
This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:
https://discuss.px4.io/t/px4-sitl-refuses-to-build-on-macos-intel-m-series/47858/7
On macOS, Gazebo has been unusable, and I have been continuously following document #25204. After seeing a comment stating that there was no Mac available for testing, I decided to purchase one myself—specifically, an M4 Mac mini.
Starting from the cleanest possible environment, I followed the instructions in dev_env_mac.md and completed the installation successfully. However, the x500 model does not appear in Gazebo, and instead I encounter the error shown below. Is there a known solution to this issue?
Additionally, the version of Gazebo I have installed is Gazebo Harmonic. Is it impossible to use the Gazebo Classic version on macOS at this point?
chung@Chungui-Macmini PX4-Autopilot % make px4_sitl gz_x500
[0/1] cd /Users/chung/px4/PX4-Autopilot/build/px4_sitl_def...sers/chung/px4/PX4-Autopilot/build/px4_sitl_default/bin/px
______ __ __ ___
| ___ \ \ \ / / / |
| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ \___ |
\_| \/ \/ |_/
px4 starting.
INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
INFO [init] found model autostart file as SYS_AUTOSTART=4001
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: 4001
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 1208528 bytes
INFO [init] Gazebo simulator 8.10.0
INFO [init] gazebo already running world: default
INFO [init] Gazebo world is ready
INFO [init] Spawning Gazebo model
INFO [gz_bridge] world: default, model: x500_0
INFO [lockstep_scheduler] setting initial absolute time to 5978000000 us
INFO [init] Setting camera to follow x500_0
INFO [init] Camera follow offset set to -2.0, -2.0, 2.0
ERROR [vehicle_magnetometer] MAG #0 failed: TIMEOUT!
ERROR [vehicle_imu] 0 - gyro 1310988 timestamp error timestamp_sample: 5957004000, previous timestamp_samplERROR [vehicle_imu] 0 - accel 1310988 timestamp error timestamp_sample: 5957004000, previous timestamp_sampERROR [vehicle_imu] 0 - gyro 1310988 timestamp error timestamp_sample: 5941692000, previous timestamp_samplERROR [vehicle_imu] 0 - accel 1310988 timestamp error timestamp_sample: 5941692000, previous timestamp_sampERROR [vehicle_imu] 0 - gyro 1310988 timestamp error timestamp_sample: 5941696000, previous timestamp_samplERROR [vehicle_imu] 0 - accel 1310988 timestamp error timestamp_sample: 5941696000, previous timestamp_sampERROR [vehicle_imu] 0 - gyro 1310988 timestamp error timestamp_sample: 5941696000, previous timestamp_samplERROR
@JeaWhanChung thank you for this. I appreciate it. However, this issue does not sound like dev env problem but SITL to me.