monemati / px4-ros2-gazebo-yolov8 Goto Github PK

Aerial Object Detection using a Drone with PX4 Autopilot and ROS 2. PX4 SITL and Gazebo Garden used for Simulation. YOLOv8 used for Object Detection.

Python 100.00%

gazebo object-detection px4 px4-autopilot px4-ros2-gazebo pygame ros ros2 ros2-humble simulation sitl yolo yolov8

px4-ros2-gazebo-yolov8's Issues

Error Gazebo - PX4-ROS2-Gazebo-YOLOv8

Hi, I hope you are well. I have problem to see Gazebo scene after installing [PX4-ROS2-Gazebo-YOLOv8], Gazebo page appear but completely black. I have ROS2 Humble on my pc. I installed ROS2 before, so I did not just follow that part related to install Ros2, but I did all process step by step.

When I run this code in Terminal, Gazebo page appear in black scene.
(Terminal #2:
cd ~/PX4-Autopilot
PX4_SYS_AUTOSTART=4002 PX4_GZ_MODEL_POSE="268.08,-128.22,3.86,0.00,0,-0.7" PX4_GZ_MODEL=x500_depth ./build/px4_sitl_default/bin/px4)

Would you please guide me to solve my problem? Thanks in advance

This is my Error:
desktop:~/PX4-Autopilot$ cd /PX4-Autopilot
desktop:/PX4-Autopilot$ PX4_SYS_AUTOSTART=4002 PX4_GZ_MODEL_POSE="268.08,-128.22,3.86,0.00,0,-0.7" PX4_GZ_MODEL=x500_depth ./build/px4_sitl_default/bin/px4

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

px4 starting.

INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
env SYS_AUTOSTART: 4002
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: 4002
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
ERROR [param] Parameter SIM_GZ_EN not found.
ERROR [param] Parameter SIM_GZ_EC_FUNC1 not found.
ERROR [param] Parameter SIM_GZ_EC_FUNC2 not found.
ERROR [param] Parameter SIM_GZ_EC_FUNC3 not found.
ERROR [param] Parameter SIM_GZ_EC_FUNC4 not found.
ERROR [param] Parameter SIM_GZ_EC_MIN1 not found.
ERROR [param] Parameter SIM_GZ_EC_MIN2 not found.
ERROR [param] Parameter SIM_GZ_EC_MIN3 not found.
ERROR [param] Parameter SIM_GZ_EC_MIN4 not found.
ERROR [param] Parameter SIM_GZ_EC_MAX1 not found.
ERROR [param] Parameter SIM_GZ_EC_MAX2 not found.
ERROR [param] Parameter SIM_GZ_EC_MAX3 not found.
ERROR [param] Parameter SIM_GZ_EC_MAX4 not found.
INFO [dataman] data manager file './dataman' size is 7872608 bytes
INFO [init] Gazebo simulator
INFO [init] starting gazebo with world: /default.sdf
INFO [init] PX4_GZ_MODEL_POSE set, spawning at: 268.08,-128.22,3.86,0.00,0,-0.7
etc/init.d-posix/rcS: 117: /home/Desktop/PX4-Autopilot/build/px4_sitl_default/rootfs/etc/init.d-posix/px4-rc.simulator: gz_bridge: not found
ERROR [init] gz_bridge failed to start and spawn model
ERROR [px4] Startup script returned with return value: 256
desktop:~/PX4-Autopilot$ [Err] [SystemPaths.cc:534] File [/default.sdf] resolved to path [/default.sdf] but the path does not exist
[Err] [Server.cc:109] Failed to find world [/default.sdf]

Can't run camera topic

when i use ros2 run ros_gz_image image_bridge /camera to open the camear, but failed, the screen is empty, i inspect the topic list, it's does't have /camera topic. What 's the problem ?

ros2 topic list
/fmu/in/obstacle_distance
/fmu/in/offboard_control_mode
/fmu/in/onboard_computer_status
/fmu/in/sensor_optical_flow
/fmu/in/telemetry_status
/fmu/in/trajectory_setpoint
/fmu/in/vehicle_attitude_setpoint
/fmu/in/vehicle_command
/fmu/in/vehicle_mocap_odometry
/fmu/in/vehicle_rates_setpoint
/fmu/in/vehicle_trajectory_bezier
/fmu/in/vehicle_trajectory_waypoint
/fmu/in/vehicle_visual_odometry
/fmu/out/failsafe_flags
/fmu/out/position_setpoint_triplet
/fmu/out/sensor_combined
/fmu/out/timesync_status
/fmu/out/vehicle_attitude
/fmu/out/vehicle_control_mode
/fmu/out/vehicle_global_position
/fmu/out/vehicle_gps_position
/fmu/out/vehicle_local_position
/fmu/out/vehicle_odometry
/fmu/out/vehicle_status
/parameter_events
/rosout

Gazebo sim window can't appear

in the second terminal I run this command:~/PX4-Autopilot$ PX4_SYS_AUTOSTART=4002 PX4_GZ_MODEL_POSE="268.08,-128.22,3.86,0.00,0,-0.7" PX4_GZ_MODEL=x500_depth ./build/px4_sitl_default/bin/px4

the gazebo sim window appeared only for one time when I first time to run the command,but later I run this command, the window still didn't show up. I ve tried to use this command :pkill -f gazebo ,there is nothing changed. Here below is the terminal displays:
`(px4-venv) (mytello) fisher@flyingff2083:~/PX4-Autopilot$ PX4_SYS_AUTOSTART=4002 PX4_GZ_MODEL_POSE="268.08,-128.22,3.86,0.00,0,-0.7" PX4_GZ_MODEL=x500_depth ./build/px4_sitl_default/bin/px4

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

px4 starting.

INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
env SYS_AUTOSTART: 4002
INFO [param] selected parameter default file parameters.bson
INFO [param] importing from 'parameters.bson'
INFO [parameters] BSON document size 473 bytes, decoded 473 bytes (INT32:15, FLOAT:8)
INFO [param] selected parameter backup file parameters_backup.bson
INFO [dataman] data manager file './dataman' size is 7872608 bytes
INFO [init] Gazebo simulator
INFO [init] gazebo already running world: default
INFO [init] PX4_GZ_MODEL_POSE set, spawning at: 268.08,-128.22,3.86,0.00,0,-0.7
INFO [gz_bridge] world: default, model name: x500_depth_0, simulation model: x500_depth
INFO [gz_bridge] Requested Model Position: 268.08,-128.22,3.86,0.00,0,-0.7
INFO [lockstep_scheduler] setting initial absolute time to 545960000 us
INFO [commander] LED: open /dev/led0 failed (22)
WARN [health_and_arming_checks] Preflight Fail: ekf2 missing data
WARN [health_and_arming_checks] Preflight Fail: Compass Sensor 0 missing
INFO [uxrce_dds_client] init UDP agent IP:127.0.0.1, port:8888
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
INFO [logger] logger started (mode=all)
INFO [logger] Start file log (type: full)
INFO [logger] [logger] ./log/2024-05-11/01_23_08.ulg
INFO [logger] Opened full log file: ./log/2024-05-11/01_23_08.ulg
INFO [mavlink] MAVLink only on localhost (set param MAV_{i}BROADCAST = 1 to enable network)
INFO [mavlink] MAVLink only on localhost (set param MAV{i}_BROADCAST = 1 to enable network)
INFO [px4] Startup script returned successfully
pxh> WARN [health_and_arming_checks] Preflight Fail: Compass Sensor 0 missing
INFO [uxrce_dds_client] synchronized with time offset 1715390044610902us
INFO [uxrce_dds_client] successfully created rt/fmu/out/battery_status data writer, topic id: 19
INFO [uxrce_dds_client] successfully created rt/fmu/out/estimator_status_flags data writer, topic id: 87
INFO [uxrce_dds_client] successfully created rt/fmu/out/failsafe_flags data writer, topic id: 93
INFO [uxrce_dds_client] successfully created rt/fmu/out/manual_control_setpoint data writer, topic id: 141
INFO [uxrce_dds_client] successfully created rt/fmu/out/position_setpoint_triplet data writer, topic id: 180INFO [uxrce_dds_client] successfully created rt/fmu/out/sensor_combined data writer, topic id: 203
INFO [uxrce_dds_client] successfully created rt/fmu/out/timesync_status data writer, topic id: 226
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_attitude data

writer, topic id: 242
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_control_mode data writer, topic id: 249
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_local_position data writer, topic id: 256
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_odometry data writer, topic id: 261
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_status data writer, topic id: 266
INFO [uxrce_dds_client] time sync converged
WARN [timesync] time jump detected. Resetting time synchroniser.
WARN [uxrce_dds_client] time sync no longer converged
INFO [uxrce_dds_client] time sync converged
WARN [timesync] time jump detected. Resetting time synchroniser.
WARN [uxrce_dds_client] time sync no longer converged
INFO [uxrce_dds_client] time sync converged
WARN [timesync] time jump detected. Resetting time synchroniser.
WARN [uxrce_dds_client] time sync no longer converged
INFO [uxrce_dds_client] time sync converged
WARN [timesync] time jump detected. Resetting time synchroniser.
WARN [uxrce_dds_client] time sync no longer converged
INFO [uxrce_dds_client] time sync converged
WARN [timesync] time jump detected. Resetting time synchroniser.
WARN [uxrce_dds_client] time sync no longer converged
INFO [uxrce_dds_client] time sync converged
WARN [timesync] time jump detected. Resetting time synchroniser.
WARN [uxrce_dds_client] time sync no longer converged
INFO [uxrce_dds_client] time sync converged

PX4 Exiting...
pxh> Exiting NOW.
`

About execution issue

Hello! I try to follow your project. Your projrct is good for my research topic. My environment is Ubuntu 22.04(jammy). However, when I try to install PX4, there is an error for protoc version. I check the protoc version and found that the version is 3.12. Therefore, I change the environment to Ubuntu 20.04 (Focal). The PX4 complier is OK and the protoc version is 3.6.1. But in Ubuntu 20.04, ROS2 Humble could not be installed! Could you give me a suggestion how should I do?
Thanks much!!
Justin Hsu

drone cant take off

when running the last command (ros2 run px4_ros_com offboard_control )on the terminal i get command send but the drone never moves

how can i add other objects to the gazebo world

aruco detection

hello i am trying to detect /track aruco markers using this code
import rclpy # Python library for ROS 2
from rclpy.node import Node # Handles the creation of nodes
from rclpy.qos import qos_profile_sensor_data # Uses Best Effort reliability for camera
from cv_bridge import CvBridge # Package to convert between ROS and OpenCV Images
from geometry_msgs.msg import TransformStamped # Handles TransformStamped message
from sensor_msgs.msg import Image # Image is the message type
from std_msgs.msg import Bool # Handles boolean messages
from std_msgs.msg import Int32 # Handles int 32 type message

Import Python libraries

import cv2 # OpenCV library
import numpy as np # Import Numpy library

The different ArUco dictionaries built into the OpenCV library.

ARUCO_DICT = {
"DICT_4X4_50": cv2.aruco.DICT_4X4_50,
"DICT_4X4_100": cv2.aruco.DICT_4X4_100,
"DICT_4X4_250": cv2.aruco.DICT_4X4_250,
"DICT_4X4_1000": cv2.aruco.DICT_4X4_1000,
"DICT_5X5_50": cv2.aruco.DICT_5X5_50,
"DICT_5X5_100": cv2.aruco.DICT_5X5_100,
"DICT_5X5_250": cv2.aruco.DICT_5X5_250,
"DICT_5X5_1000": cv2.aruco.DICT_5X5_1000,
"DICT_6X6_50": cv2.aruco.DICT_6X6_50,
"DICT_6X6_100": cv2.aruco.DICT_6X6_100,
"DICT_6X6_250": cv2.aruco.DICT_6X6_250,
"DICT_6X6_1000": cv2.aruco.DICT_6X6_1000,
"DICT_7X7_50": cv2.aruco.DICT_7X7_50,
"DICT_7X7_100": cv2.aruco.DICT_7X7_100,
"DICT_7X7_250": cv2.aruco.DICT_7X7_250,
"DICT_7X7_1000": cv2.aruco.DICT_7X7_1000,
"DICT_ARUCO_ORIGINAL": cv2.aruco.DICT_ARUCO_ORIGINAL
}

class ArucoNode(Node):
"""
Create an ArucoNode class, which is a subclass of the Node class.
"""
def init(self):
"""
Class constructor to set up the node
"""
# Initiate the Node class's constructor and give it a name
super().init('aruco_node')

# Declare parameters
self.declare_parameter("aruco_dictionary_name", "DICT_ARUCO_ORIGINAL")
self.declare_parameter("aruco_marker_side_length", 0.05)
self.declare_parameter("camera_calibration_parameters_filename", "/home/boxtech/PX4-ROS2-Gazebo-YOLOv8/calibration_chessboard.yaml")
self.declare_parameter("image_topic", "/camera")
self.declare_parameter("aruco_marker_name", "aruco_marker")
 
# Read parameters
aruco_dictionary_name = self.get_parameter("aruco_dictionary_name").get_parameter_value().string_value
self.aruco_marker_side_length = self.get_parameter("aruco_marker_side_length").get_parameter_value().double_value
self.camera_calibration_parameters_filename = self.get_parameter(
  "camera_calibration_parameters_filename").get_parameter_value().string_value
image_topic = self.get_parameter("image_topic").get_parameter_value().string_value
self.aruco_marker_name = self.get_parameter("aruco_marker_name").get_parameter_value().string_value

# Check that we have a valid ArUco marker
if ARUCO_DICT.get(aruco_dictionary_name, None) is None:
  self.get_logger().info("[INFO] ArUCo tag of '{}' is not supported".format(
    args["type"]))
     
# Load the camera parameters from the saved file
cv_file = cv2.FileStorage(
  self.camera_calibration_parameters_filename, cv2.FILE_STORAGE_READ) 
self.mtx = cv_file.getNode('K').mat()
self.dst = cv_file.getNode('D').mat()
cv_file.release()
 
# Load the ArUco dictionary
self.get_logger().info("[INFO] detecting '{}' markers...".format(
  aruco_dictionary_name))
self.this_aruco_dictionary = cv2.aruco.Dictionary_get(ARUCO_DICT[aruco_dictionary_name])
self.this_aruco_parameters = cv2.aruco.DetectorParameters_create()
 
# Create the subscriber. This subscriber will receive an Image
# from the image_topic. 
self.subscription = self.create_subscription(
  Image, 
  image_topic, 
  self.listener_callback, 
  qos_profile=qos_profile_sensor_data)
self.subscription # prevent unused variable warning
 
# Create the publishers
# Publishes if an ArUco marker was detected
self.publisher_aruco_marker_detected = self.create_publisher(Bool, 'aruco_marker_detected', 10)
 
# Publishes x-centroid offset with respect to the camera image
self.publisher_offset_aruco_marker = self.create_publisher(Int32, 'aruco_marker_offset', 10)
self.offset_aruco_marker = 0
   
# Used to convert between ROS and OpenCV images
self.bridge = CvBridge()

def listener_callback(self, data):
"""
Callback function.
"""
# Convert ROS Image message to OpenCV image
current_frame = self.bridge.imgmsg_to_cv2(data)

# Detect ArUco markers in the video frame
(corners, marker_ids, rejected) = cv2.aruco.detectMarkers(
  current_frame, self.this_aruco_dictionary, parameters=self.this_aruco_parameters,
  cameraMatrix=self.mtx, distCoeff=self.dst)
 
# ArUco detected (True or False)
aruco_detected_flag = Bool()
aruco_detected_flag.data = False
 
# ArUco center offset
aruco_center_offset_msg = Int32()
aruco_center_offset_msg.data = self.offset_aruco_marker
 
image_width = current_frame.shape[1]

# Check that at least one ArUco marker was detected
if marker_ids is not None:
 
  # ArUco marker has been detected
  aruco_detected_flag.data = True
 
  # Draw a square around detected markers in the video frame
  cv2.aruco.drawDetectedMarkers(current_frame, corners, marker_ids)

  # Update the ArUco marker offset 
  M = cv2.moments(corners[0][0])
  cX = int(M["m10"] / M["m00"])
  cY = int(M["m01"] / M["m00"])
   
  self.offset_aruco_marker = cX - int(image_width/2)
  aruco_center_offset_msg.data = self.offset_aruco_marker

  cv2.putText(current_frame, "Center Offset: " + str(self.offset_aruco_marker), (cX - 40, cY - 40), 
    cv2.FONT_HERSHEY_COMPLEX, 0.7, (0, 255, 0), 2) 

# Publish if ArUco marker has been detected or not
self.publisher_aruco_marker_detected.publish(aruco_detected_flag)
 
# Publish the center offset of the ArUco marker
self.publisher_offset_aruco_marker.publish(aruco_center_offset_msg)
     
# Display image for testing
cv2.imshow("camera", current_frame)
cv2.waitKey(1)

def main(args=None):

Initialize the rclpy library

rclpy.init(args=args)

Create the node

aruco_node = ArucoNode()

Spin the node so the callback function is called.

rclpy.spin(aruco_node)

Destroy the node explicitly

(optional - otherwise it will be done automatically

when the garbage collector destroys the node object)

aruco_node.destroy_node()

Shutdown the ROS client library for Python

rclpy.shutdown()
got it from automatic addison repository but it displays the window and never detect the aruco on the camera frame python3 aruco_marker_detector.py
[INFO] [1715685902.300350418] [aruco_node]: [INFO] detecting 'DICT_ARUCO_ORIGINAL' markers...
can you help me resolve it i am using your model as example

error when launch PX4_SYS_AUTOSTART=4002 PX4_GZ_MODEL_POSE="268.08,-128.22,3.86,0.00,0,-0.7" PX4_GZ_MODEL=x500_depth ./build/px4_sitl_default/bin/px4

i run this command in terminal 2 :Terminal #2:
cd ~/PX4-Autopilot
PX4_SYS_AUTOSTART=4002 PX4_GZ_MODEL_POSE="268.08,-128.22,3.86,0.00,0,-0.7" PX4_GZ_MODEL=x500_depth ./build/px4_sitl_default/bin/px4 ,it give me error:
[Err] [Server.cc:159] Error Code 14: [/sdf/world[@name="default"]/include[0]/uri:/home/fisher/PX4-Autopilot/Tools/simulation/gz/worlds/default.sdf:L148]: Msg: Unable to find uri[model://sonoma_raceway]
[Err] [Server.cc:159] Error Code 14: [/sdf/world[@name="default"]/include[1]/uri:/home/fisher/PX4-Autopilot/Tools/simulation/gz/worlds/default.sdf:L152]: Msg: Unable to find uri[model://hatchback_blue]
[Err] [Server.cc:159] Error Code 14: [/sdf/world[@name="default"]/include[2]/uri:/home/fisher/PX4-Autopilot/Tools/simulation/gz/worlds/default.sdf:L157]: Msg: Unable to find uri[model://pickup]
[Err] [Server.cc:159] Error Code 14: [/sdf/world[@name="default"]/include[3]/uri:/home/fisher/PX4-Autopilot/Tools/simulation/gz/worlds/default.sdf:L162]: Msg: Unable to find uri[model://pickup]
[Err] [Server.cc:159] Error Code 14: [/sdf/world[@name="default"]/include[4]/uri:/home/fisher/PX4-Autopilot/Tools/simulation/gz/worlds/default.sdf:L167]: Msg: Unable to find uri[model://casual_female]
ERROR [gz_bridge] Service call timed out. Check GZ_SIM_RESOURCE_PATH is set correctly.
ERROR [gz_bridge] Task start failed (-1)
ERROR [init] gz_bridge failed to start and spawn model
ERROR [px4] Startup script returned with return value: 256

i already followed the instruction to change the bashrc and copy models to .gz. please give some advice

PX4 Arming Problem

The installation was successful.
And all components except PX4 working well !

PX4 erros:
Compass Sensor 0 missing
Accel #0 fail: STALE!
Gyro #0 fail: STALE!

About keboard control and image capture problem

@monemati Hello, it's me, again! Sorry for bother! Now, I build all environment. I execute the keboard control part. As you mentioned, I open 5 terminal. When I execute the 5th terminal ( execute python keyboard-mavsdk-test.py) and try to control the UAV, The "detected frame" window does not chnage. There is no message in Terminal 3 (execute ros2 run ros_gz_image image_bridge /camera).
When I press key AWSD, there are some value changed in terminal 5, the third value become 0.5 or 1 or -0.5 etc.
Could you give me some suggestion help me to debug it?
Justin Hsu

The messages in terminal 2 are:
ubuntu@DESKTOP-129CA14:~/PX4-Autopilot$ PX4_SYS_AUTOSTART=4002 PX4_GZ_MODEL_POSE="268.08,-128.22,3.86,0.00,0,-0.7" PX4_GZ_MODEL=x500_depth ./build/px4_sitl_default/bin/px4

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

px4 starting.

libEGL warning: failed to open /dev/dri/renderD128: Permission denied

WARN [vehicle_angular_velocity] no gyro selected, using sensor_gyro:0 1310988
INFO [commander] LED: open /dev/led0 failed (22)
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
INFO [tone_alarm] home set
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
INFO [logger] logger started (mode=all)
INFO [logger] Start file log (type: full)
INFO [logger] [logger] ./log/2024-01-31/07_29_11.ulg
INFO [logger] Opened full log file: ./log/2024-01-31/07_29_11.ulg
INFO [mavlink] MAVLink only on localhost (set param MAV_{i}BROADCAST = 1 to enable network)
INFO [mavlink] MAVLink only on localhost (set param MAV{i}_BROADCAST = 1 to enable network)
INFO [px4] Startup script returned successfully
pxh> INFO [commander] Ready for takeoff!
INFO [uxrce_dds_client] synchronized with time offset 1706686151688870us
INFO [uxrce_dds_client] successfully created rt/fmu/out/battery_status data writer, topic id: 19
INFO [uxrce_dds_client] successfully created rt/fmu/out/estimator_status_flags data writer, topic id: 86
INFO [uxrce_dds_client] successfully created rt/fmu/out/failsafe_flags data writer, topic id: 92
INFO [uxrce_dds_client] successfully created rt/fmu/out/manual_control_setpoint data writer, topic id: 138
INFO [uxrce_dds_client] successfully created rt/fmu/out/position_setpoint_triplet data writer, topic id: 169INFO [uxrce_dds_client] successfully created rt/fmu/out/sensor_combined data writer, topic id: 191
INFO [uxrce_dds_client] successfully created rt/fmu/out/timesync_status data writer, topic id: 214
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_attitude data writer, topic id: 230
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_control_mode data writer, topic id: 237
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_global_position data writer, topic id: 238
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_gps_position data writer, topic id: 240
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_local_position data writer, topic id: 244
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_odometry data writer, topic id: 249
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_status data writer, topic id: 254
WARN [timesync] time jump detected. Resetting time synchroniser.
WARN [timesync] time jump detected. Resetting time synchroniser.
INFO [mavlink] partner IP: 127.0.0.1
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_command_ack data writer, topic id: 234
INFO [commander] Armed by external command
INFO [tone_alarm] arming warning
INFO [commander] Takeoff detected
WARN [timesync] time jump detected. Resetting time synchroniser.
WARN [timesync] time jump detected. Resetting time synchroniser.
Stack trace (most recent call last) in thread 1033:
#31 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
#30 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f208c02484f, in
#29 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f208bf92ac2, in
#28 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f20865f6ca0, in
#27 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f20865f5af1, in QThread::exec()
#26 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f20867e275a, in QEventLoop::exec(QFlagsQEventLoop::ProcessEventsFlag)
#25 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f208683d0b7, in QEventDispatcherGlib::processEvents(QFlagsQEventLoop::ProcessEventsFlag)
#24 Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7f208430a3e2, in g_main_context_iteration
#23 Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7f2084362257, in
#22 Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7f208430cd3a, in g_main_context_dispatch
#21 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f208683da66, in
#20 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f20867e6f26, in QCoreApplicationPrivate::sendPostedEvents(QObject*, int, QThreadData*)
#19 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f20867e3e39, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
#18 Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7f2085f3b712, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
#17 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f208681141d, in QObject::event(QEvent*)
#16 Object "/usr/lib/x86_64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0x7f2063864ee8, in gz::gui::plugins::RenderThread::RenderNext(gz::gui::plugins::RenderSync*)
#15 Object "/usr/lib/x86_64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0x7f2063874f57, in gz::gui::plugins::RenderThreadRhiOpenGL::RenderNext(gz::gui::plugins::RenderSync*)
#14 Object "/usr/lib/x86_64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0x7f20638697eb, in gz::gui::plugins::GzRenderer::Render(gz::gui::plugins::RenderSync*)
#13 Object "/usr/lib/x86_64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre2.so", at 0x7f2009497b0d, in
#12 Object "/usr/lib/x86_64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre2.so", at 0x7f2009531bb7, in gz::rendering::v7::Ogre2Scene::FlushGpuCommandsAndStartNewFrame(unsigned char, bool)
#11 Object "/usr/lib/x86_64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre2.so", at 0x7f2009531942, in gz::rendering::v7::Ogre2Scene::FlushGpuCommandsOnly()
#10 Object "/usr/lib/x86_64-linux-gnu/OGRE-2.3/libOgreNextMain.so.2.3.1", at 0x7f2009180602, in Ogre::CompositorManager2::_updateImplementation()
#9 Object "/usr/lib/x86_64-linux-gnu/OGRE-2.3/OGRE/RenderSystem_GL3Plus.so", at 0x7f2008b0ec2b, in Ogre::GL3PlusVaoManager::_update()
#8 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7f206c797dd5, in
#7 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7f206ca532ef, in
#6 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7f206ca4c57a, in
#5 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7f206ca4b611, in
#4 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7f206ca50547, in
#3 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7f206cf5f11a, in
#2 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f2063c193af, in
#1 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f2063c0583a, in
#0 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f2063caba60, in
Segmentation fault (Address not mapped to object [0x180])
Stack trace (most recent call last) in thread 928:
#28 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
#27 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa2e0cc784f, in
#26 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa2e0c35ac2, in
#25 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fa2dcf27252, in
#24 Object "/usr/lib/x86_64-linux-gnu/gz-sim-7/plugins/libgz-sim-sensors-system.so", at 0x7fa2adb0ac37, in gz::sim::v7::systems::SensorsPrivate::RenderThread()
#23 Object "/usr/lib/x86_64-linux-gnu/gz-sim-7/plugins/libgz-sim-sensors-system.so", at 0x7fa2adb0a333, in gz::sim::v7::systems::SensorsPrivate::RunOnce()
#22 Object "/lib/x86_64-linux-gnu/libgz-sensors7.so.7", at 0x7fa2adb9a7ce, in gz::sensors::v7::Manager::RunOnce(std::chrono::duration<long, std::ratio<1l, 1000000000l> > const&, bool)
#21 Object "/lib/x86_64-linux-gnu/libgz-sensors7.so.7", at 0x7fa2adb9a765, in gz::sensors::v7::Sensor::Update(std::chrono::duration<long, std::ratio<1l, 1000000000l> > const&, bool)
#20 Object "/lib/x86_64-linux-gnu/libgz-sensors7-camera.so.7", at 0x7fa2ad94b6bf, in gz::sensors::v7::CameraSensor::Update(std::chrono::duration<long, std::ratio<1l, 1000000000l> > const&)
#19 Object "/usr/lib/x86_64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre2.so", at 0x7fa29dc3283b, in
#18 Object "/usr/lib/x86_64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre2.so", at 0x7fa29dcc3a94, in gz::rendering::v7::Ogre2RenderTarget::Copy(gz::rendering::v7::Image&) const
#17 Object "/usr/lib/x86_64-linux-gnu/OGRE-2.3/libOgreNextMain.so.2.3.1", at 0x7fa2acd21c22, in Ogre::Image2::copyContentsToMemory(Ogre::TextureGpu*, Ogre::TextureBox, Ogre::TextureBox, Ogre::PixelFormatGpu, bool)
#16 Object "/usr/lib/x86_64-linux-gnu/OGRE-2.3/libOgreNextMain.so.2.3.1", at 0x7fa2acc76d9c, in Ogre::AsyncTextureTicket::download(Ogre::TextureGpu*, unsigned char, bool, Ogre::TextureBox*, bool)
#15 Object "/usr/lib/x86_64-linux-gnu/OGRE-2.3/OGRE/RenderSystem_GL3Plus.so", at 0x7fa28713f543, in Ogre::GL3PlusAsyncTextureTicket::downloadFromGpu(Ogre::TextureGpu*, unsigned char, bool, Ogre::TextureBox*)
#14 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fa28e522c3d, in
#13 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fa28e52160e, in
#12 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fa28e521449, in
#11 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fa28e2e94f1, in
#10 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fa28e5219e6, in
#9 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fa28e2e6bbb, in
#8 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fa28e30b8ec, in
#7 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fa28e7d0864, in
#6 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fa28e7d057a, in
#5 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fa28e7cf611, in
#4 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fa28e7d4547, in
#3 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fa28ece311a, in
#2 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7fa29ca203af, in
#1 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7fa29ca0c83a, in
#0 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7fa29cab2a60, in
Segmentation fault (Address not mapped to object [0x180])

The messages in terminal 4 are:

ubuntu@DESKTOP-129CA14:~/PX4-ROS2-Gazebo-YOLOv8$ python3 uav_camera_det.py
/home/ubuntu/.local/lib/python3.10/site-packages/matplotlib/projections/init.py:63: UserWarning: Unable to import Axes3D. This may be due to multiple versions of Matplotlib being installed (e.g. as a system package and as a pip package). As a result, the 3D projection is not available.
warnings.warn("Unable to import Axes3D. This may be due to multiple versions of "
[INFO] [1706686307.530698747] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 234.6ms
Speed: 6.4ms preprocess, 234.6ms inference, 2.7ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686309.811796528] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 230.5ms
Speed: 2.2ms preprocess, 230.5ms inference, 0.5ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686310.059574347] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 195.7ms
Speed: 1.6ms preprocess, 195.7ms inference, 0.5ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686310.267478064] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 196.3ms
Speed: 1.5ms preprocess, 196.3ms inference, 0.4ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686310.476035180] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 197.4ms
Speed: 1.5ms preprocess, 197.4ms inference, 0.4ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686310.805740106] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 196.8ms
Speed: 1.7ms preprocess, 196.8ms inference, 0.4ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686311.440424157] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 199.4ms
Speed: 2.1ms preprocess, 199.4ms inference, 0.4ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686312.094040908] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 201.5ms
Speed: 1.8ms preprocess, 201.5ms inference, 0.7ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686312.737367859] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 199.8ms
Speed: 1.5ms preprocess, 199.8ms inference, 0.6ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686313.417425313] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 225.6ms
Speed: 2.9ms preprocess, 225.6ms inference, 0.5ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686314.182934448] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 202.2ms
Speed: 1.5ms preprocess, 202.2ms inference, 0.4ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686314.887464659] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 224.2ms
Speed: 2.3ms preprocess, 224.2ms inference, 0.4ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686315.614201869] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 204.1ms
Speed: 2.0ms preprocess, 204.1ms inference, 0.4ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686316.351212380] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 219.6ms
Speed: 2.6ms preprocess, 219.6ms inference, 0.4ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686317.037596090] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 200.0ms
Speed: 1.5ms preprocess, 200.0ms inference, 0.5ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686317.695627400] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 233.0ms
Speed: 3.4ms preprocess, 233.0ms inference, 0.4ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686318.388757910] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 195.5ms
Speed: 1.6ms preprocess, 195.5ms inference, 0.4ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686319.004148019] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 194.2ms
Speed: 1.8ms preprocess, 194.2ms inference, 0.5ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686319.641245528] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 197.1ms
Speed: 2.1ms preprocess, 197.1ms inference, 0.4ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686320.269485438] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 204.3ms
Speed: 1.6ms preprocess, 204.3ms inference, 0.5ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686320.920355147] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 205.8ms
Speed: 1.7ms preprocess, 205.8ms inference, 0.5ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686321.635106158] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 237.2ms
Speed: 2.5ms preprocess, 237.2ms inference, 0.7ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686322.397014672] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 199.2ms
Speed: 2.1ms preprocess, 199.2ms inference, 0.5ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686323.064647686] [image_subscriber]: Receiving video frame

The messages in terminal 5 are:
ubuntu@DESKTOP-129CA14:~/PX4-ROS2-Gazebo-YOLOv8$ python3 keyboard-mavsdk-test.py
pygame 2.5.2 (SDL 2.28.2, Python 3.10.12)
Hello from the pygame community. https://www.pygame.org/contribute.html
Waiting for drone to connect...
-- Connected to drone!
-- Connected to drone!
Task exception was never retrieved
future: <Task finished name='Task-3' coro=<getKeyboardInput() done, defined at /home/ubuntu/PX4-ROS2-Gazebo-YOLOv8/keyboard-mavsdk-test.py:12> exception=ActionError(<mavsdk.action.ActionResult object at 0x7fc3fc9dd420>, 'arm()')>
Traceback (most recent call last):
File "/home/ubuntu/PX4-ROS2-Gazebo-YOLOv8/keyboard-mavsdk-test.py", line 36, in getKeyboardInput
await my_drone.action.arm()
File "/home/ubuntu/.local/lib/python3.10/site-packages/mavsdk/action.py", line 320, in arm
raise ActionError(result, "arm()")
mavsdk.action.ActionError: COMMAND_DENIED: 'Command Denied'; origin: arm(); params: ()
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The problem of running simulation

Dear sir:
I have the problem of running the gazebo:
~/PX4-Autopilot$ PX4_SYS_AUTOSTART=4002 PX4_GZ_MODEL_POSE="268.08,-128.22,3.86,0.00,0,-0.7" PX4_GZ_MODEL=x500_depth ./build/px4_sitl_default/bin/px4

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

px4 starting.

INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
env SYS_AUTOSTART: 4002
INFO [param] selected parameter default file parameters.bson
INFO [param] importing from 'parameters.bson'
INFO [parameters] BSON document size 310 bytes, decoded 310 bytes (INT32:13, FLOAT:3)
INFO [param] selected parameter backup file parameters_backup.bson
INFO [dataman] data manager file './dataman' size is 7872608 bytes
INFO [init] Gazebo simulator
INFO [init] starting gazebo with world: /home/tang/PX4-Autopilot/Tools/simulation/gz/worlds/default.sdf
INFO [init] PX4_GZ_MODEL_POSE set, spawning at: 268.08,-128.22,3.86,0.00,0,-0.7
INFO [gz_bridge] world: default, model name: x500_depth_0, simulation model: x500_depth
INFO [gz_bridge] Requested Model Position: 268.08,-128.22,3.86,0.00,0,-0.7
Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[Err] [SDFFeatures.cc:843] The geometry element of collision [collision] couldn't be created
[Err] [SDFFeatures.cc:843] The geometry element of collision [collision] couldn't be created
[Err] [SDFFeatures.cc:843] The geometry element of collision [collision] couldn't be created
[Err] [SDFFeatures.cc:843] The geometry element of collision [collision] couldn't be created
ERROR [gz_bridge] timed out waiting for clock message
ERROR [gz_bridge] Task start failed (-1)
ERROR [init] gz_bridge failed to start and spawn model
ERROR [px4] Startup script returned with return value: 256
tang@tang-GL502VSK:~/PX4-Autopilot$ [Err] [FuelClient.cc:691] Failed to download model.
Server: https://fuel.ignitionrobotics.org
Route: openrobotics/models/sonoma raceway/2/sonoma raceway.zip
REST response code: 504
[Err] [SystemPaths.cc:432] URI [https://fuel.ignitionrobotics.org/1.0/openrobotics/models/sonoma raceway/2/files/meshes/Raceway.obj] resolved to path [/meshes/Raceway.obj] but the path does not exist
[Err] [SystemPaths.cc:525] Could not resolve file [https://fuel.ignitionrobotics.org/1.0/openrobotics/models/sonoma raceway/2/files/meshes/Raceway.obj]
[Err] [MeshManager.cc:193] Unable to find file[https://fuel.ignitionrobotics.org/1.0/openrobotics/models/sonoma raceway/2/files/meshes/Raceway.obj]

And after that the GAZEBO could show the drone and car but can't show the world and it also can't connect to the MicroDDS and QgroundControl.

And also I can't running ros2 run ros_gz_image image_bridge /camera it show like:
$ ros2 run ros_gz_image image_bridge /camera
Package 'ros_gz_image' not found

Thanks for your model it looks very good, i really wish to running it.

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