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    roslaunch启动有问题，可以通过make sitl_gazebo启动

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    gazebo roslaunch ros mavros launch文件启动报错
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      4476258b13f59064af77f09b5c43238.png

      ros1@ubuntu:~/catkin_ws/src/Firmware/launch$ roslaunch mavros_posix_sitl.launch
... logging to /home/ros1/.ros/log/d1600a38-f81b-11ee-ac39-212c27ef7d36/roslaunch-ubuntu-3163.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:41477/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /mavros/camera/frame_id: base_link
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_rate: 1.0
 * /mavros/conn/system_time_rate: 1.0
 * /mavros/conn/timeout: 10.0
 * /mavros/conn/timesync_rate: 10.0
 * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
 * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/laser_1_sub/id: 3
 * /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/laser_1_sub/subscriber: True
 * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /mavros/distance_sensor/lidarlite_pub/id: 1
 * /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
 * /mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/sonar_1_sub/horizontal_fov_ratio: 1.0
 * /mavros/distance_sensor/sonar_1_sub/id: 2
 * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /mavros/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
 * /mavros/fake_gps/eph: 2.0
 * /mavros/fake_gps/epv: 2.0
 * /mavros/fake_gps/fix_type: 3
 * /mavros/fake_gps/geo_origin/alt: 408.0
 * /mavros/fake_gps/geo_origin/lat: 47.3667
 * /mavros/fake_gps/geo_origin/lon: 8.55
 * /mavros/fake_gps/gps_rate: 5.0
 * /mavros/fake_gps/mocap_transform: True
 * /mavros/fake_gps/satellites_visible: 5
 * /mavros/fake_gps/tf/child_frame_id: fix
 * /mavros/fake_gps/tf/frame_id: map
 * /mavros/fake_gps/tf/listen: False
 * /mavros/fake_gps/tf/rate_limit: 10.0
 * /mavros/fake_gps/tf/send: False
 * /mavros/fake_gps/use_mocap: True
 * /mavros/fake_gps/use_vision: False
 * /mavros/fcu_protocol: v2.0
 * /mavros/fcu_url: udp://:14540@127....
 * /mavros/gcs_url: 
 * /mavros/global_position/child_frame_id: base_link
 * /mavros/global_position/frame_id: map
 * /mavros/global_position/gps_uere: 1.0
 * /mavros/global_position/rot_covariance: 99999.0
 * /mavros/global_position/tf/child_frame_id: base_link
 * /mavros/global_position/tf/frame_id: map
 * /mavros/global_position/tf/global_frame_id: earth
 * /mavros/global_position/tf/send: False
 * /mavros/global_position/use_relative_alt: True
 * /mavros/image/frame_id: px4flow
 * /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
 * /mavros/imu/frame_id: base_link
 * /mavros/imu/linear_acceleration_stdev: 0.0003
 * /mavros/imu/magnetic_stdev: 0.0
 * /mavros/imu/orientation_stdev: 1.0
 * /mavros/landing_target/camera/fov_x: 2.0071286398
 * /mavros/landing_target/camera/fov_y: 2.0071286398
 * /mavros/landing_target/image/height: 480
 * /mavros/landing_target/image/width: 640
 * /mavros/landing_target/land_target_type: VISION_FIDUCIAL
 * /mavros/landing_target/listen_lt: False
 * /mavros/landing_target/mav_frame: LOCAL_NED
 * /mavros/landing_target/target_size/x: 0.3
 * /mavros/landing_target/target_size/y: 0.3
 * /mavros/landing_target/tf/child_frame_id: camera_center
 * /mavros/landing_target/tf/frame_id: landing_target
 * /mavros/landing_target/tf/listen: False
 * /mavros/landing_target/tf/rate_limit: 10.0
 * /mavros/landing_target/tf/send: True
 * /mavros/local_position/frame_id: map
 * /mavros/local_position/tf/child_frame_id: base_link
 * /mavros/local_position/tf/frame_id: map
 * /mavros/local_position/tf/send: False
 * /mavros/local_position/tf/send_fcu: False
 * /mavros/mission/pull_after_gcs: True
 * /mavros/mission/use_mission_item_int: True
 * /mavros/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/mount/debounce_s: 4.0
 * /mavros/mount/err_threshold_deg: 10.0
 * /mavros/mount/negate_measured_pitch: False
 * /mavros/mount/negate_measured_roll: False
 * /mavros/mount/negate_measured_yaw: False
 * /mavros/odometry/fcu/odom_child_id_des: base_link
 * /mavros/odometry/fcu/odom_parent_id_des: map
 * /mavros/plugin_blacklist: ['safety_area', '...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.118682
 * /mavros/px4flow/ranger_max_range: 5.0
 * /mavros/px4flow/ranger_min_range: 0.3
 * /mavros/safety_area/p1/x: 1.0
 * /mavros/safety_area/p1/y: 1.0
 * /mavros/safety_area/p1/z: 1.0
 * /mavros/safety_area/p2/x: -1.0
 * /mavros/safety_area/p2/y: -1.0
 * /mavros/safety_area/p2/z: -1.0
 * /mavros/setpoint_accel/send_force: False
 * /mavros/setpoint_attitude/reverse_thrust: False
 * /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /mavros/setpoint_attitude/tf/frame_id: map
 * /mavros/setpoint_attitude/tf/listen: False
 * /mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /mavros/setpoint_attitude/use_quaternion: False
 * /mavros/setpoint_position/mav_frame: LOCAL_NED
 * /mavros/setpoint_position/tf/child_frame_id: target_position
 * /mavros/setpoint_position/tf/frame_id: map
 * /mavros/setpoint_position/tf/listen: False
 * /mavros/setpoint_position/tf/rate_limit: 50.0
 * /mavros/setpoint_raw/thrust_scaling: 1.0
 * /mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /mavros/startup_px4_usb_quirk: False
 * /mavros/sys/disable_diag: False
 * /mavros/sys/min_voltage: 10.0
 * /mavros/target_component_id: 1
 * /mavros/target_system_id: 1
 * /mavros/tdr_radio/low_rssi: 40
 * /mavros/time/time_ref_source: fcu
 * /mavros/time/timesync_avg_alpha: 0.6
 * /mavros/time/timesync_mode: MAVLINK
 * /mavros/vibration/frame_id: base_link
 * /mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /mavros/vision_pose/tf/frame_id: odom
 * /mavros/vision_pose/tf/listen: False
 * /mavros/vision_pose/tf/rate_limit: 10.0
 * /mavros/vision_speed/listen_twist: True
 * /mavros/vision_speed/twist_cov: True
 * /mavros/wheel_odometry/child_frame_id: base_link
 * /mavros/wheel_odometry/count: 2
 * /mavros/wheel_odometry/frame_id: odom
 * /mavros/wheel_odometry/send_raw: True
 * /mavros/wheel_odometry/send_twist: False
 * /mavros/wheel_odometry/tf/child_frame_id: base_link
 * /mavros/wheel_odometry/tf/frame_id: odom
 * /mavros/wheel_odometry/tf/send: False
 * /mavros/wheel_odometry/use_rpm: False
 * /mavros/wheel_odometry/vel_error: 0.1
 * /mavros/wheel_odometry/wheel0/radius: 0.05
 * /mavros/wheel_odometry/wheel0/x: 0.0
 * /mavros/wheel_odometry/wheel0/y: -0.15
 * /mavros/wheel_odometry/wheel1/radius: 0.05
 * /mavros/wheel_odometry/wheel1/x: 0.0
 * /mavros/wheel_odometry/wheel1/y: 0.15
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    mavros (mavros/mavros_node)
    sitl (px4/px4)
    vehicle_spawn_ubuntu_3163_8312059742902152234 (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [3175]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to d1600a38-f81b-11ee-ac39-212c27ef7d36
process[rosout-1]: started with pid [3185]
started core service [/rosout]
process[sitl-2]: started with pid [3193]
INFO  [px4] Creating symlink /home/ros1/catkin_ws/src/Firmware/ROMFS/px4fmu_common -> /home/ros1/.ros/etc

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

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
process[gazebo-3]: started with pid [3200]
process[gazebo_gui-4]: started with pid [3215]
INFO  [param] selected parameter default file eeprom/parameters_10016
[param] parameter file not found, creating eeprom/parameters_10016
process[vehicle_spawn_ubuntu_3163_8312059742902152234-5]: started with pid [3227]
  SYS_AUTOCONFIG: curr: 0 -> new: 1
process[mavros-6]: started with pid [3233]
* SYS_AUTOSTART: curr: 0 -> new: 10016
  BAT_N_CELLS: curr: 0 -> new: 4
  CAL_ACC0_ID: curr: 0 -> new: 1311244
  CAL_ACC_PRIME: curr: 0 -> new: 1311244
  CAL_GYRO0_ID: curr: 0 -> new: 1311244
  CAL_GYRO_PRIME: curr: 0 -> new: 1311244
  CAL_MAG0_ID: curr: 0 -> new: 197388
  CAL_MAG_PRIME: curr: 0 -> new: 197388
  CBRK_SUPPLY_CHK: curr: 0 -> new: 894281
  COM_RC_IN_MODE: curr: 0 -> new: 1
  EKF2_ANGERR_INIT: curr: 0.1000 -> new: 0.0100
  EKF2_GBIAS_INIT: curr: 0.1000 -> new: 0.0100
  COM_ARM_EKF_AB: curr: 0.0022 -> new: 0.0050
  EKF2_REQ_GPS_H: curr: 10.0000 -> new: 0.5000
  MC_PITCH_P: curr: 6.5000 -> new: 6.0000
  MC_PITCHRATE_P: curr: 0.1500 -> new: 0.2000
  MC_ROLL_P: curr: 6.5000 -> new: 6.0000
  MC_ROLLRATE_P: curr: 0.1500 -> new: 0.2000
  MPC_Z_VEL_P_ACC: curr: 4.0000 -> new: 12.0000
  MPC_Z_VEL_I_ACC: curr: 2.0000 -> new: 3.0000
  MPC_XY_P: curr: 0.9500 -> new: 0.8000
  MPC_XY_VEL_P_ACC: curr: 1.8000 -> new: 4.0000
  MPC_XY_VEL_D_ACC: curr: 0.2000 -> new: 0.3200
  RTL_RETURN_ALT: curr: 60.0000 -> new: 30.0000
  SDLOG_MODE: curr: 0 -> new: 1
  SDLOG_PROFILE: curr: 1 -> new: 131
  SDLOG_DIRS_MAX: curr: 0 -> new: 7
  SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
  SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
  TRIG_INTERFACE: curr: 4 -> new: 3
  COM_CPU_MAX: curr: 90.0000 -> new: -1.0000
  IMU_INTEG_RATE: curr: 200 -> new: 250
  NAV_ACC_RAD: curr: 10.0000 -> new: 2.0000
  RTL_DESCEND_ALT: curr: 30.0000 -> new: 10.0000
  RTL_LAND_DELAY: curr: -1.0000 -> new: 0.0000
  PWM_MAX: curr: 2000 -> new: 1950
  PWM_MIN: curr: 1000 -> new: 1075
  GPS_UBX_DYNMODEL: curr: 7 -> new: 6
* SYS_AUTOCONFIG: curr: 1 -> new: 0
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4560
[ INFO] [1712850888.063827791]: FCU URL: udp://:14540@127.0.0.1:14557
[ INFO] [1712850888.066346435]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1712850888.066419325]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1712850888.066506685]: GCS bridge disabled
[ INFO] [1712850888.100838082]: Plugin 3dr_radio loaded
[ INFO] [1712850888.102229584]: Plugin 3dr_radio initialized
[ INFO] [1712850888.102334129]: Plugin actuator_control loaded
[ INFO] [1712850888.104530095]: Plugin actuator_control initialized
[ INFO] [1712850888.122737757]: Plugin adsb loaded
[ INFO] [1712850888.125700450]: Plugin adsb initialized
[ INFO] [1712850888.125841360]: Plugin altitude loaded
[ INFO] [1712850888.126648810]: Plugin altitude initialized
[ INFO] [1712850888.126733184]: Plugin cam_imu_sync loaded
[ INFO] [1712850888.127312666]: Plugin cam_imu_sync initialized
[ INFO] [1712850888.127467915]: Plugin camera loaded
[ INFO] [1712850888.128109935]: Plugin camera initialized
[ INFO] [1712850888.128260014]: Plugin cellular_status loaded
[ INFO] [1712850888.130069415]: Plugin cellular_status initialized
[ INFO] [1712850888.130201627]: Plugin command loaded
[ INFO] [1712850888.135419050]: Plugin command initialized
[ INFO] [1712850888.135598279]: Plugin companion_process_status loaded
[ INFO] [1712850888.137382816]: Plugin companion_process_status initialized
[ INFO] [1712850888.137541012]: Plugin debug_value loaded
[ INFO] [1712850888.141150484]: Plugin debug_value initialized
[ INFO] [1712850888.141209746]: Plugin distance_sensor blacklisted
[ INFO] [1712850888.141367540]: Plugin esc_status loaded
[ INFO] [1712850888.142099768]: Plugin esc_status initialized
[ INFO] [1712850888.142238032]: Plugin esc_telemetry loaded
[ INFO] [1712850888.142649920]: Plugin esc_telemetry initialized
[ INFO] [1712850888.142741257]: Plugin fake_gps loaded
[ INFO] [1712850888.153480364]: Plugin fake_gps initialized
[ INFO] [1712850888.153640313]: Plugin ftp loaded
[ INFO] [1712850888.158307744]: Plugin ftp initialized
[ INFO] [1712850888.158456450]: Plugin geofence loaded
[ INFO] [1712850888.160683785]: Plugin geofence initialized
[ INFO] [1712850888.160916874]: Plugin global_position loaded
[ INFO] [1712850888.173145904]: Plugin global_position initialized
[ INFO] [1712850888.173346436]: Plugin gps_input loaded
[ INFO] [1712850888.175501468]: Plugin gps_input initialized
[ INFO] [1712850888.175697481]: Plugin gps_rtk loaded
[ INFO] [1712850888.177789617]: Plugin gps_rtk initialized
[ INFO] [1712850888.177960729]: Plugin gps_status loaded
[ INFO] [1712850888.179571439]: Plugin gps_status initialized
[ INFO] [1712850888.179706867]: Plugin guided_target loaded
[ INFO] [1712850888.182689954]: Plugin guided_target initialized
[ INFO] [1712850888.182881948]: Plugin hil loaded
[ INFO] [1712850888.194545022]: Plugin hil initialized
[ INFO] [1712850888.194753762]: Plugin home_position loaded
[ INFO] [1712850888.198112479]: Plugin home_position initialized
[ INFO] [1712850888.198348214]: Plugin imu loaded
[ INFO] [1712850888.204470224]: Plugin imu initialized
[ INFO] [1712850888.204648120]: Plugin landing_target loaded
[ INFO] [1712850888.218740412]: Plugin landing_target initialized
[ INFO] [1712850888.219018564]: Plugin local_position loaded
[ INFO] [1712850888.225474694]: Plugin local_position initialized
[ INFO] [1712850888.225657069]: Plugin log_transfer loaded
[ INFO] [1712850888.228246824]: Plugin log_transfer initialized
[ INFO] [1712850888.228479402]: Plugin mag_calibration_status loaded
[ INFO] [1712850888.229259116]: Plugin mag_calibration_status initialized
[ INFO] [1712850888.229370745]: Plugin manual_control loaded
[ INFO] [1712850888.231817557]: Plugin manual_control initialized
[ INFO] [1712850888.232037830]: Plugin mocap_pose_estimate loaded
[ INFO] [1712850888.236226196]: Plugin mocap_pose_estimate initialized
[ INFO] [1712850888.236418271]: Plugin mount_control loaded
[ WARN] [1712850888.240726253]: Could not retrive negate_measured_roll parameter value, using default (0)
[ WARN] [1712850888.241521292]: Could not retrive negate_measured_pitch parameter value, using default (0)
[ WARN] [1712850888.241950494]: Could not retrive negate_measured_yaw parameter value, using default (0)
[ WARN] [1712850888.243477037]: Could not retrive debounce_s parameter value, using default (4.000000)
[ WARN] [1712850888.243914544]: Could not retrive err_threshold_deg parameter value, using default (10.000000)
[ INFO] [1712850888.244014980]: Plugin mount_control initialized
[ INFO] [1712850888.244764552]: Plugin nav_controller_output loaded
[ INFO] [1712850888.245361459]: Plugin nav_controller_output initialized
[ INFO] [1712850888.245526759]: Plugin obstacle_distance loaded
[ INFO] [1712850888.248874584]: Plugin obstacle_distance initialized
[ INFO] [1712850888.249162747]: Plugin odom loaded
[ INFO] [1712850888.252925395]: Plugin odom initialized
[ INFO] [1712850888.253127731]: Plugin onboard_computer_status loaded
[ INFO] [1712850888.254766875]: Plugin onboard_computer_status initialized
[ INFO] [1712850888.254931844]: Plugin param loaded
[ INFO] [1712850888.257546973]: Plugin param initialized
[ INFO] [1712850888.257731943]: Plugin play_tune loaded
[ INFO] [1712850888.259399062]: Plugin play_tune initialized
[ INFO] [1712850888.259535031]: Plugin px4flow loaded
[ INFO] [1712850888.264640117]: Plugin px4flow initialized
[ INFO] [1712850888.264926095]: Plugin rallypoint loaded
[ INFO] [1712850888.267738351]: Plugin rallypoint initialized
[ INFO] [1712850888.267828336]: Plugin rangefinder blacklisted
[ INFO] [1712850888.267962432]: Plugin rc_io loaded
[ INFO] [1712850888.270224221]: Plugin rc_io initialized
[ INFO] [1712850888.270305648]: Plugin safety_area blacklisted
[ INFO] [1712850888.270452260]: Plugin setpoint_accel loaded
[ INFO] [1712850888.273158837]: Plugin setpoint_accel initialized
[ INFO] [1712850888.273343917]: Plugin setpoint_attitude loaded
[ INFO] [1712850888.282170639]: Plugin setpoint_attitude initialized
[ INFO] [1712850888.282382736]: Plugin setpoint_position loaded
[ INFO] [1712850888.295676628]: Plugin setpoint_position initialized
[ INFO] [1712850888.295952485]: Plugin setpoint_raw loaded
[ INFO] [1712850888.303272750]: Plugin setpoint_raw initialized
[ INFO] [1712850888.303451537]: Plugin setpoint_trajectory loaded
[ INFO] [1712850888.307232090]: Plugin setpoint_trajectory initialized
[ INFO] [1712850888.307516395]: Plugin setpoint_velocity loaded
[ INFO] [1712850888.312278748]: Plugin setpoint_velocity initialized
[ INFO] [1712850888.313064357]: Plugin sys_status loaded
[ INFO] [1712850888.323987569]: Plugin sys_status initialized
[ INFO] [1712850888.324222682]: Plugin sys_time loaded
[ INFO] [1712850888.328441201]: TM: Timesync mode: MAVLINK
[ INFO] [1712850888.328791720]: TM: Not publishing sim time
[ INFO] [1712850888.329795943]: Plugin sys_time initialized
[ INFO] [1712850888.329953618]: Plugin terrain loaded
[ INFO] [1712850888.330529013]: Plugin terrain initialized
[ INFO] [1712850888.330695856]: Plugin trajectory loaded
[ INFO] [1712850888.335636401]: Plugin trajectory initialized
[ INFO] [1712850888.335839879]: Plugin tunnel loaded
[ INFO] [1712850888.338170145]: Plugin tunnel initialized
[ INFO] [1712850888.338375958]: Plugin vfr_hud loaded
[ INFO] [1712850888.338903594]: Plugin vfr_hud initialized
[ INFO] [1712850888.338977466]: Plugin vibration blacklisted
[ INFO] [1712850888.339143067]: Plugin vision_pose_estimate loaded
[ INFO] [1712850888.345758671]: Plugin vision_pose_estimate initialized
[ INFO] [1712850888.345998238]: Plugin vision_speed_estimate loaded
[ INFO] [1712850888.349700779]: Plugin vision_speed_estimate initialized
[ INFO] [1712850888.349877231]: Plugin waypoint loaded
[ INFO] [1712850888.355641617]: Plugin waypoint initialized
[ INFO] [1712850888.355811857]: Plugin wheel_odometry blacklisted
[ INFO] [1712850888.356025566]: Plugin wind_estimation loaded
[ INFO] [1712850888.356609941]: Plugin wind_estimation initialized
[ INFO] [1712850888.356897702]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1712850888.356980434]: Built-in MAVLink package version: 2024.3.3
[ INFO] [1712850888.357033945]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1712850888.357074047]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[INFO] [1712850888.367131, 0.000000]: Loading model XML from file /home/ros1/catkin_ws/src/Firmware/Tools/sitl_gazebo/models/typhoon_h480/typhoon_h480.sdf
[INFO] [1712850888.379321, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1712850888.913215697]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1712850888.915640698]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1712850889.017845969]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1712850889.019249434]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1712850890.124855994]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1712850890.147281865]: Physics dynamic reconfigure ready.
[INFO] [1712850890.191040, 0.040000]: Calling service /gazebo/spawn_sdf_model

      我不知道这是什么原因，下面是我的roslaunch的代码：

      <?xml version="1.0"?>
<launch>
    <!-- MAVROS posix SITL environment launch script -->
    <!-- launches MAVROS, PX4 SITL, Gazebo environment, and spawns vehicle -->
    <!-- vehicle pose -->
    <arg name="x" default="0"/>
    <arg name="y" default="0"/>
    <arg name="z" default="0"/>
    <arg name="R" default="0"/>
    <arg name="P" default="0"/>
    <arg name="Y" default="0"/>
    <!-- vehicle model and world -->
    <arg name="est" default="ekf2"/>
    <arg name="vehicle" default="iris"/>
    <arg name="world" default="/home/ros1/catkin_ws/src/Firmware/Tools/sitl_gazebo/worlds/empty.world"/>
    <arg name="sdf" default="/home/ros1/catkin_ws/src/Firmware/Tools/sitl_gazebo/models/typhoon_h480/typhoon_h480.sdf"/>

    <!-- gazebo configs -->
    <arg name="gui" default="true"/>
    <arg name="debug" default="false"/>
    <arg name="verbose" default="false"/>
    <arg name="paused" default="false"/>
    <arg name="respawn_gazebo" default="false"/>
    <!-- MAVROS configs -->
    <arg name="fcu_url" default="udp://:14540@127.0.0.1:14557"/>
    <arg name="respawn_mavros" default="false"/>
    <!-- PX4 configs -->
    <arg name="interactive" default="true"/>
    <!-- PX4 SITL and Gazebo -->
    <include file="$(find px4)/launch/posix_sitl.launch">
        <arg name="x" value="$(arg x)"/>
        <arg name="y" value="$(arg y)"/>
        <arg name="z" value="$(arg z)"/>
        <arg name="R" value="$(arg R)"/>
        <arg name="P" value="$(arg P)"/>
        <arg name="Y" value="$(arg Y)"/>
        <arg name="world" value="$(arg world)"/>
        <arg name="vehicle" value="$(arg vehicle)"/>
        <arg name="sdf" value="$(arg sdf)"/>
        <arg name="gui" value="$(arg gui)"/>
        <arg name="interactive" value="$(arg interactive)"/>
        <arg name="debug" value="$(arg debug)"/>
        <arg name="verbose" value="$(arg verbose)"/>
        <arg name="paused" value="$(arg paused)"/>
        <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
    </include>
    <!-- MAVROS -->
    <include file="$(find mavros)/launch/px4.launch">
        <!-- GCS link is provided by SITL -->
        <arg name="gcs_url" value=""/>
        <arg name="fcu_url" value="$(arg fcu_url)"/>
        <arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
    </include>
</launch>```


我之前用这个launch文件成功启动了，但后面不知道怎么回事就不行了，请求解答
      1 条回复 最后回复 回复 引用 0
      • 11211143561
        myjhvytdrt
        最后由 编辑

        同学你解决了吗？怎么做的啊

        1 条回复 最后回复 回复 引用 0
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