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[Err] [Model.cc:1108] Model[drone_1] is attempting to load a plugin, but detected an incorrect plugin type. Plugin filename [libgazebo_gps_plugin.so] name[gps_plugin] #3
Comments
PX4 can be quite verbose at times and |
This error doesn't just happen once or happens by accident, it happens constantly, like the following:
I switched the aircraft's mode to position according to your suggestion, and an error occurred:
I've tried subscribing to the topic of location in mavros,such as And, when My problem is described in detail in the previous article, if you can, please help me analyze it. |
The fact that you had to wrap |
any update?i met same problem |
Have you resolve the problem? I meet the problem too. However, roslaunch px4 mavros_posix_sitl.launch can launch successfully, and there are gps data. |
I have Gazebo9.19.0 + px4 1.10.2, I can't get gps information by running the code. However, roslaunch px4 mavros_posix_sitl.launch can obtain the gps data. How can I resolve the problem? I will appreciate it if you can help me. Thanks! |
I jump this problem by changing position source form gps to mocap。 |
However, "vswarm takeoff" rely on the gps? If you use the mocap, can you run "vswarm takeoff" successfully? |
yes, the "vswarm takeoff" can't be used, so I modified the takeoff by writing a script in python to send commands to the drone and QGroundControl to send takeoff commands. |
Can you share me the takeoff script? Thanks! |
I fix this bug by change the code block in component_snippets.xacro:
into some code form px4_iris:
And vswarm takeoff works fine ! |
Thanks, I can takeoff successfully now! |
HI, I ran this project successfully, after command "vswarm offboard", drones began to flock.
|
my question is:
When I run:
roslaunch vswarm vswarm_gazebo.launch n:=3
,I get an error:The error is that the gps_plugin is incorrect. After investigation, I found that the problem is:
vswarm_ws/src/vswarm/models/lequad/urdf/lequad_base.xacro:line158:
<!-- Instantiate gps plugin. -->
<xacro:gps_plugin_macro
namespace="${namespace}"
gps_noise="true" >
</xacro:gps_plugin_macro>
The gps_plugin location is at vswarm_ws/models/lequad/urdf/component_snippets.xacro:line127:
<xacro:macro name="gps_plugin_macro" params="namespace gps_noise">
<gazebo>
<plugin name="gps_plugin" filename="libgazebo_gps_plugin.so">
<robotNamespace>${namespace}</robotNamespace>
<gpsNoise>${gps_noise}</gpsNoise>
</plugin>
</gazebo>
</xacro:macro>
I checked:
First, the
libgazebo_gps_plugin.so
file exists, and I am sure it can be accessed (here I tested it with an absolute path)Then, I used the px4 official code to test:
roslaunch px4 mavros_posix_sitl.launch
, it can be used normally, no error is reported, and the samelibgazebo_gps_plugin.so
is also called here, so I am sure that it is no problem.Then I checked the call to the gps_plugin in
iris.sdf
in px4 and foundgps.sdf
, So i changed the original gps_plugin to:<xacro:macro name="gps_plugin_macro" params="namespace gps_noise">
<gazebo>
<sensor name="gps" type="gps">
<plugin name="gps_plugin" filename="libgazebo_gps_plugin.so">
<robotNamespace>${namespace}</robotNamespace>
<gpsNoise>${gps_noise}</gpsNoise>
</plugin>
</sensor>
</gazebo>
</xacro:macro>
After this run, there is no error, but the behavior is:
this error keeps appearing,My guess is that the gps plugin is still not working correctly, I tried subscribing to the
/drone_1/mavros/local_position/pose
topic and nothing came up, so it is true that the gps_plugin is not working properly.Then I tried many methods without effect, so, I want to ask for help, this problem has been bothering me for days, if anyone can help me, thank you very much.
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