[Bug] The model I added to the simulation environment is not working properly.

[serkanMzlm]

Describe the bug

I added my own model and world to the PX4 Autopilot software. The model (Intel RealSense D435) works fine, but when I run it with the world model, the drone model does not load.

Depth Camera D435i model:

World:

Bug

To Reproduce

1. I ran the PX4 Autopilot software in the simulation environment with my model on the default world model (it worked properly).
2. When I tested the x500 with my own world model, it did not work properly

Expected behavior

I want PX4 to work properly in the world model I have prepared.

Screenshot / Media

No response

Flight Log

In the simulation environment...

Software Version

main branch

Flight controller

x500

Vehicle type

Multicopter

How are the different components wired up (including port information)

No response

Additional context

No response

[xdwgood]

@serkanMzlm see here:PX4/PX4-gazebo-models#44 (comment)

The modified drone can display normally, but I have the following two error:
Unable to find file with URI [file://media/dem/data.dt2]
Unable to find file with URI [file://media/dem/data.dem]

I really didn't see data.dem under the dem file.Curiously, data.dt2 exists, but it cannot be find.

[serkanMzlm]

@xdwgood Yes, I corrected the part with data.dem. It should indeed be data.dt2

[xdwgood]

try new,but not work

[serkanMzlm]

try new,but not work

Could you please first copy the model and necessary files to a separate directory and run 'gz sim -r'?
(Don't forget to export GZ_SIM_RESOURCE_PATH)

[xdwgood]

[serkanMzlm]

@xdwgood
Could you please follow the steps listed below in order?

Note: You need to install the requirements to run DEM files. sudo apt-get install gdal-bin libgdal-dev python3-gdal

# 1. Download my github page
git clone git@github.com:serkanMzlm/gz-sim.git
cd gz-sim/

# 2. set GZ_SIM_RESOURCE_PATH location
export GZ_SIM_RESOURCE_PATH=/home/${USER}/gz-sim/examples

# 3. run world
gz sim -r examples/worlds/mountain_fog.sdf 

[serkanMzlm]

You need to install the requirements to run DEM files. sudo apt-get install gdal-bin libgdal-dev python3-gdal

[xdwgood]

@serkanMzlm Thank you for your help.

[xdwgood]

Could we close this question now?

[serkanMzlm]

@xdwgood No, we cannot close this question now. The issue has not been resolved yet, particularly with the PX4 commands not working

[serkanMzlm]

@serkanMzlm Thank you for your help.

You don't have to use only the specified data. You can directly add a black and white image of any map to obtain this map :)

[xdwgood]

No, we cannot close this question now. The issue has not been resolved yet, particularly with the PX4 commands not working

I use this model to test the takeoff command, and the drone can take off（I can see drones taking off and rising in gazebo environment.）, as shown in the following figure:

But then I will encounter the following error, and then gz will stop working.

A:
0.9243 2547 -501.2 0.09919 2254 10.76 1.066 2255 10.71 -0.1081 2255 10.65 1.273 2254 10.82 -0.09417 2547 -501.4 0.0631 2546 -501.2 0.1326 2547 -501.5 0.2493 2546 -501.2 0.4691 2546 -501.1 -1.31 -1.31 -1.31 -1.31 0 0
2547 1.577e+07 1.706e+06 -2919 1.466e+07 3.642e+06 4624 1.467e+07 3.643e+06 -1882 1.467e+07 3.644e+06 3587 1.466e+07 3.641e+06 -3184 1.577e+07 1.706e+06 -3970 1.577e+07 1.705e+06 -1756 1.578e+07 1.706e+06 -2340 1.577e+07 1.705e+06 12.6 1.577e+07 1.705e+06 -4955 -4955 -4955 -4955 0 0
-501.2 1.706e+06 1.431e+07 -2137 3.653e+06 1.089e+07 3249 3.655e+06 1.09e+07 4793 3.656e+06 1.09e+07 -3681 3.651e+06 1.089e+07 574.9 1.707e+06 1.432e+07 -4682 1.705e+06 1.431e+07 798.8 1.707e+06 1.432e+07 -3104 1.705e+06 1.431e+07 61.13 1.706e+06 1.431e+07 8743 8743 8743 8743 0 0
0.09919 -2919 -2137 1.245 -2980 -2027 -0.7396 -2982 -2028 0.1748 -2982 -2029 0.3309 -2980 -2027 0.9411 -2919 -2137 1.753 -2918 -2136 0.6679 -2920 -2137 1.271 -2918 -2136 0.4604 -2918 -2136 -0.2784 -0.2784 -0.2784 -0.2784 0 0
2254 1.466e+07 3.653e+06 -2980 1.886e+09 -3.28e+09 4701 1.467e+07 3.649e+06 -1019 1.467e+07 3.648e+06 2740 1.466e+07 3.646e+06 -2825 1.466e+07 3.651e+06 -4313 1.466e+07 3.65e+06 -1488 1.467e+07 3.652e+06 -2592 1.466e+07 3.65e+06 20.45 1.466e+07 3.651e+06 13.23 13.23 13.23 8.404e+06 0 0
10.76 3.642e+06 1.089e+07 -2027 -3.28e+09 5.773e+09 3110 3.649e+06 1.089e+07 3279 3.651e+06 1.089e+07 -2196 3.643e+06 1.088e+07 -51.9 3.643e+06 1.09e+07 -4077 3.638e+06 1.089e+07 329.4 3.643e+06 1.09e+07 -2659 3.639e+06 1.089e+07 47.32 3.641e+06 1.089e+07 23.09 23.09 23.09 -1.475e+07 0 0
1.066 4624 3249 -0.7396 4701 3110 2.361 4703 3112 0.8905 4704 3112 0.7306 4700 3110 -0.2842 4624 3249 -1.521 4622 3247 0.148 4625 3249 -0.7701 4623 3248 0.4857 4622 3247 0.3516 0.3516 0.3516 0.3516 0 0
2255 1.467e+07 3.655e+06 -2982 1.467e+07 3.649e+06 4703 1.886e+09 -3.28e+09 -1020 1.468e+07 3.652e+06 2741 1.467e+07 3.651e+06 -2827 1.467e+07 3.653e+06 -4315 1.467e+07 3.652e+06 -1488 1.467e+07 3.654e+06 -2593 1.467e+07 3.652e+06 20.46 1.467e+07 3.653e+06 7.28 7.28 8.404e+06 7.28 0 0
10.71 3.643e+06 1.09e+07 -2028 3.649e+06 1.089e+07 3112 -3.28e+09 5.774e+09 3280 3.655e+06 1.089e+07 -2197 3.647e+06 1.088e+07 -51.86 3.644e+06 1.09e+07 -4079 3.64e+06 1.09e+07 329.7 3.645e+06 1.09e+07 -2660 3.641e+06 1.09e+07 47.35 3.642e+06 1.09e+07 32.28 32.28 -1.475e+07 32.28 0 0
-0.1081 -1882 4793 0.1748 -1019 3279 0.8905 -1020 3280 2.462 -1019 3281 -1.396 -1020 3278 1.175 -1882 4794 -0.5596 -1882 4791 1.029 -1882 4794 -0.2585 -1882 4792 0.49 -1881 4791 3.872 3.872 3.872 3.872 0 0
2255 1.467e+07 3.656e+06 -2982 1.467e+07 3.651e+06 4704 1.468e+07 3.655e+06 -1019 1.888e+09 -3.283e+09 2741 1.467e+07 3.653e+06 -2827 1.467e+07 3.655e+06 -4316 1.467e+07 3.653e+06 -1488 1.468e+07 3.656e+06 -2594 1.467e+07 3.654e+06 20.47 1.467e+07 3.654e+06 7.09 8.408e+06 7.09 7.09 0 0
10.65 3.644e+06 1.09e+07 -2029 3.648e+06 1.089e+07 3112 3.652e+06 1.089e+07 3281 -3.283e+09 5.779e+09 -2198 3.646e+06 1.089e+07 -51.79 3.645e+06 1.091e+07 -4080 3.64e+06 1.09e+07 329.8 3.645e+06 1.091e+07 -2661 3.641e+06 1.09e+07 47.36 3.643e+06 1.09e+07 25.38 -1.475e+07 25.38 25.38 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
A(10, 11): -3.283e+09
A(11, 10): -3.283e+09
gz sim --verbose=1 -r -s /home/xdw/PX4-Autopilot/Tools/simulation/gz/worlds/mountain_fog.sdf: ./dart/constraint/BoxedLcpConstraintSolver.cpp:229: virtual void dart::constraint::BoxedLcpConstraintSolver::solveConstrainedGroup(dart::constraint::ConstrainedGroup&): Assertion `isSymmetric( n, mA.data(), mOffset[i], mOffset[i] + constraint->getDimension() - 1)' failed.
Stack trace (most recent call last):
#31 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
#30 Object "gz sim --verbose=1 -r -s /home/xdw/PX4-Autopilot/Tools/simulation/gz/worlds/mountain_fog.sdf", at 0x602273a481c4, in _start
#29 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x752a51629e3f, in __libc_start_main
#28 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x752a51629d8f, in
#27 Object "gz sim --verbose=1 -r -s /home/xdw/PX4-Autopilot/Tools/simulation/gz/worlds/mountain_fog.sdf", at 0x602273a4817e, in
#26 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x752a51aa8e19, in ruby_run_node
#25 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x752a51aa5317, in
#24 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x752a51c3a30c, in rb_vm_exec
#23 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x752a51c34c96, in
#22 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x752a51c31fc5, in
#21 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x752a51c2fc34, in
#20 Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x752a5186644b, in
#19 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x752a51bfd088, in rb_nogvl
#18 Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x752a51865d6b, in
#17 Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x752a51857492, in
#16 Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x752a5185ae2d, in
#15 Object "/usr/lib/x86_64-linux-gnu/libgz-sim7-gz.so.7.7.0", at 0x752a4d75c8dd, in runServer
#14 Object "/lib/x86_64-linux-gnu/libgz-sim7.so.7", at 0x752a4c73a4f5, in
#13 Object "/lib/x86_64-linux-gnu/libgz-sim7.so.7", at 0x752a4c74960a, in gz::sim::v7::SimulationRunner::Run(unsigned long)
#12 Object "/lib/x86_64-linux-gnu/libgz-sim7.so.7", at 0x752a4c748cd0, in gz::sim::v7::SimulationRunner::Step(gz::sim::v7::UpdateInfo const&)
#11 Object "/lib/x86_64-linux-gnu/libgz-sim7.so.7", at 0x752a4c747412, in gz::sim::v7::SimulationRunner::UpdateSystems()
#10 Object "/usr/lib/x86_64-linux-gnu/gz-sim-7/plugins/libgz-sim-physics-system.so", at 0x752a3454ffc6, in gz::sim::v7::systems::Physics::Update(gz::sim::v7::UpdateInfo const&, gz::sim::v7::EntityComponentManager&)
#9 Object "/usr/lib/x86_64-linux-gnu/gz-sim-7/plugins/libgz-sim-physics-system.so", at 0x752a34550641, in gz::sim::v7::systems::PhysicsPrivate::Step(std::chrono::duration<long, std::ratio<1l, 1000000000l> > const&)
#8 Object "/usr/lib/x86_64-linux-gnu/gz-physics-6/engine-plugins/libgz-physics-dartsim-plugin.so", at 0x752a0ed96e3b, in gz::physics::dartsim::SimulationFeatures::WorldForwardStep(gz::physics::Identity const&, gz::physics::SpecifyData<gz::physics::RequireDatagz::physics::WorldPoses, gz::physics::ExpectData<gz::physics::ChangedWorldPoses, gz::physics::Contacts, gz::physics::JointPositions> >&, gz::physics::CompositeData&, gz::physics::ExpectData<gz::physics::ApplyExternalForceTorques, gz::physics::ApplyGeneralizedForces, gz::physics::VelocityControlCommands, gz::physics::ServoControlCommands, std::chrono::duration<long, std::ratio<1l, 1000000000l> > > const&)
#7 Object "/lib/x86_64-linux-gnu/libdart.so.6.12", at 0x752a0e966e73, in dart::simulation::World::step(bool)
#6 Object "/lib/x86_64-linux-gnu/libdart.so.6.12", at 0x752a0e9474a0, in dart::constraint::ConstraintSolver::solveConstrainedGroups()
#5 Object "/lib/x86_64-linux-gnu/libdart.so.6.12", at 0x752a0e9442ca, in dart::constraint::BoxedLcpConstraintSolver::solveConstrainedGroup(dart::constraint::ConstrainedGroup&)
#4 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x752a51639e95, in __assert_fail
#3 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x752a5162871a, in
#2 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x752a516287f2, in abort
#1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x752a51642475, in raise
#0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x752a516969fc, in pthread_kill
Aborted (Signal sent by tkill() 14653 1000)

@serkanMzlm

[serkanMzlm]

@xdwgood It doesn't get to this part. For some reason, it doesn't load the model; it loads the world environment but doesn't add the model part.

make px4_sitl gz_x500_mountain_fog

@xdwgood, is the collision part enabled for you?

[serkanMzlm]

I found the error. When sending the PX4-gazebo-models model, I corrected the <world name="mountain_fog"> part, but it remained as default when used, and the issue was resolved