Move to gazebo harmonic #61
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JonasVautherin
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| vehicle=iris | ||
| world=empty | ||
| vehicle=gz_x500 |
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@dakejahl, @julianoes: does gz_x500 have a camera that would enable the video stream? If not, which airframe does have a camera? I used to do it with typhoon_h480, but it doesn't seem to give me a video stream with gazebo harmonic 🤔
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Sorry I missed this. The x500_mono_cam is what you're looking for
make px4_sitl gz_x500_mono_cam
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Sorry I missed this.
Don't be! It was a draft PR that I finally tested today, and tagged you with this question. So you actually answered really fast 😬.
Let me try gz_x500_mono_cam then, thanks a lot!
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Well I missed it the first time you tagged me. I have failed you. I have failed my family. I have been a bad chatgpt.
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Yes it works, on the host I can run
gst-launch-1.0 rtspsrc location=rtsp://127.0.0.1:8554/live ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink
and get the video 🙌. Thanks for the help!
| gstreamer1.0-plugins-base \ | ||
| gstreamer1.0-plugins-good \ | ||
| gstreamer1.0-plugins-ugly \ | ||
| iproute2 \ |
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I think you still need the ip route command for
px4-gazebo-headless/edit_rcS.bash
Line 27 in ff79470
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Good catch, not sure why I removed it!
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| RUN apt-get update && \ | ||
| apt-get install -y bc \ |
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Oh, for the speed factor. Maybe it explains why it didn't fail in my tests 😇. Adding it back!
| ${PX4_SOURCE_DIR}/Tools/px4events/jsonout.py | ||
| ${PX4_SOURCE_DIR}/Tools/px4events/srcparser.py | ||
| ${PX4_SOURCE_DIR}/Tools/px4events/srcscanner.py | ||
| + modules__uxrce_dds_client |
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Hm, why is that? Should we try to fix that properly on the PX4 side (at least for the next release)?
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It was failing otherwise 🤷. I didn't investigate further 😇
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Without the patch, it fails to build with (still on latest main):
[ 16%] Built target ver_gen
gmake[2]: *** No rule to make target 'src/modules/uxrce_dds_client/dds_topics.h', needed by 'events/px4.json'. Stop.
gmake[1]: *** [CMakeFiles/Makefile2:22205: src/lib/events/CMakeFiles/events_json.dir/all] Error 2
gmake: *** [Makefile:156: all] Error 2
Maybe I'm missing some magic that the Makefile does before calling CMake? I don't know.
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Odd. How is this different in docker? 🤔
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I am building with cmake, I think because I didn't manage to run the make wrapper just for building (it's running immediately). So I do this:
RUN cmake -DCONFIG=px4_sitl_default -B${FIRMWARE_DIR}/build -S${FIRMWARE_DIR} && \
cmake --build ${FIRMWARE_DIR}/build
I could imagine that the Makefile does some more magic before calling CMake, including this module stuff?
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There is a way to not make it run:
make px4_sitl
JonasVautherin
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This moves to Ubuntu 24.04 and gazebo harmonic.
I tested it to work with MAVSDK, except for the video stream that I haven't managed to make work.
@dakejahl: is there a default airframe that comes with a camera? Seems like
gz_x500doesn't, right?