Failed to Bind

[jmtobin-uh]

When trying to open iris_autopilot.world I get the error failed to bind with 127.0.0.1:9002 aborting plugin. Not sure what the issue is.

Terminal output

me@computer:~/Documents/ardupilot/ardupilot_gazebo/worlds$ gazebo --verbose iris_ardupilot.world
Gazebo multi-robot simulator, version 9.19.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 9.19.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: my_ip_address
[Msg] Publicized address: my_ip_address
Warning [parser.cc:759] XML Attribute[xmlns:xacro] in element[sdf] not defined in SDF, ignoring.
[Msg] Loading world file [/home/jonathan/Documents/ardupilot/ardupilot_gazebo/worlds/iris_ardupilot.world]
[Msg] [ArduPilotPlugin] Model :iris
[Msg] [ArduPilotPlugin] Model :  iris_demo::iris::base_link
[Msg] [ArduPilotPlugin] Model :    base_link_collision
[Msg] [ArduPilotPlugin] Model :      
[Msg] [ArduPilotPlugin] Model :  iris_demo::iris::iris/ground_truth/odometry_sensorgt_link
[Msg] [ArduPilotPlugin] Model :  iris_demo::iris::iris/imu_link
[Msg] [ArduPilotPlugin] Model :  iris_demo::iris::rotor_0
[Msg] [ArduPilotPlugin] Model :    rotor_0_collision
[Msg] [ArduPilotPlugin] Model :      
[Msg] [ArduPilotPlugin] Model :  iris_demo::iris::rotor_1
[Msg] [ArduPilotPlugin] Model :    rotor_1_collision
[Msg] [ArduPilotPlugin] Model :      
[Msg] [ArduPilotPlugin] Model :  iris_demo::iris::rotor_2
[Msg] [ArduPilotPlugin] Model :    rotor_2_collision
[Msg] [ArduPilotPlugin] Model :      
[Msg] [ArduPilotPlugin] Model :  iris_demo::iris::rotor_3
[Msg] [ArduPilotPlugin] Model :    rotor_3_collision
[Msg] [ArduPilotPlugin] Model :      
[Msg] [ArduPilotPlugin] Model :  iris_demo::gimbal_small_2d::base_link
[Msg] [ArduPilotPlugin] Model :    base_col
[Msg] [ArduPilotPlugin] Model :      
[Msg] [ArduPilotPlugin] Model :  iris_demo::gimbal_small_2d::tilt_link
[Msg] [ArduPilotPlugin] Model :    tilt_col
[Msg] [ArduPilotPlugin] Model :      
[Msg] [ArduPilotPlugin] Model :    camera_col
[Msg] [ArduPilotPlugin] Model :      
[Msg] [ArduPilotPlugin] Model :  iris_demo::cam_link
[Msg] [ArduPilotPlugin] Model :  iris_demo::iris::iris/ground_truth/odometry_sensorgt_joint
[Msg] [ArduPilotPlugin] Model :  iris_demo::iris::iris/imu_joint
[Msg] [ArduPilotPlugin] Model :  iris_demo::iris::rotor_0_joint
[Msg] [ArduPilotPlugin] Model :  iris_demo::iris::rotor_1_joint
[Msg] [ArduPilotPlugin] Model :  iris_demo::iris::rotor_2_joint
[Msg] [ArduPilotPlugin] Model :  iris_demo::iris::rotor_3_joint
[Msg] [ArduPilotPlugin] Model :  iris_demo::gimbal_small_2d::tilt_joint
[Msg] [ArduPilotPlugin] Model :  iris_demo::iris_gimbal_mount
[Msg] [ArduPilotPlugin] Model :  iris_demo::camera_mount
[Err] [ArduPilotPlugin.cc:962] [iris] failed to bind with 127.0.0.1:9002 aborting plugin.
[Wrn] [Publisher.cc:185] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.