Invalid parameter "gyroscopoe_random_walk"

Hi,

I want to launch empty_world using ardupilot_sitl_gazebo_plugin. I run the following command:

roslaunch ardupilot_sitl_gazebo_plugin empty_world.launch

but every time i get the following error:

... logging to /root/.ros/log/a0c374e4-ac84-11e7-8e27-000c2977e7ec/roslaunch-ubuntu-66206.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
redefining global property: pi
when processing file: /home/mahdi/catkin_ws2/src/ardupilot_sitl_gazebo_plugin/urdf/iris_base.xacro
Invalid parameter "gyroscopoe_random_walk"
XacroException('Invalid parameter "gyroscopoe_random_walk"',)
when instantiating macro: imu_plugin_macro (/home/mahdi/catkin_ws2/src/ardupilot_sitl_gazebo_plugin/urdf/iris_base.xacro)
in file: /home/mahdi/catkin_ws2/src/ardupilot_sitl_gazebo_plugin/urdf/iris_base.xacro
while processing /home/mahdi/catkin_ws2/src/ardupilot_sitl_gazebo_plugin/launch/iris_spawn.launch:
Invalid <param> tag: Cannot load command parameter [robot_description]: command [     /opt/ros/lunar/share/xacro/xacro.py '/home/mahdi/catkin_ws2/src/ardupilot_sitl_gazebo_plugin/urdf/iris_base.xacro'     enable_logging:=true     enable_ground_truth:=true     log_file:=iris] returned with code [2]. 

Param xml is <param command="     $(find xacro)/xacro.py '$(arg model)'     enable_logging:=$(arg enable_logging)     enable_ground_truth:=$(arg enable_ground_truth)     log_file:=$(arg log_file)" name="robot_description"/>
The traceback for the exception was written to the log file

when i remove gyroscopoe_random_walk and accelerometer_random_walk from the iris_base.xacro file I get another error:

... logging to /root/.ros/log/6c3dc610-ac85-11e7-8e27-000c2977e7ec/roslaunch-ubuntu-66247.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
redefining global property: pi
when processing file: /home/mahdi/catkin_ws2/src/ardupilot_sitl_gazebo_plugin/urdf/iris_base.xacro
Undefined parameters [gyroscope_random_walk,accelerometer_random_walk]
XacroException(u'Undefined parameters [gyroscope_random_walk,accelerometer_random_walk]',)
when instantiating macro: imu_plugin_macro (/home/mahdi/catkin_ws2/src/ardupilot_sitl_gazebo_plugin/urdf/iris_base.xacro)
in file: /home/mahdi/catkin_ws2/src/ardupilot_sitl_gazebo_plugin/urdf/iris_base.xacro
while processing /home/mahdi/catkin_ws2/src/ardupilot_sitl_gazebo_plugin/launch/iris_spawn.launch:
Invalid <param> tag: Cannot load command parameter [robot_description]: command [     /opt/ros/lunar/share/xacro/xacro.py '/home/mahdi/catkin_ws2/src/ardupilot_sitl_gazebo_plugin/urdf/iris_base.xacro'     enable_logging:=true     enable_ground_truth:=true     log_file:=iris] returned with code [2]. 

Param xml is <param command="     $(find xacro)/xacro.py '$(arg model)'     enable_logging:=$(arg enable_logging)     enable_ground_truth:=$(arg enable_ground_truth)     log_file:=$(arg log_file)" name="robot_description"/>
The traceback for the exception was written to the log file

when I try to check for compatibility using xacro --check-order src/ardupilot_sitl_gazebo_plugin/urdf/iris_base.xacro command i get the following lines:

redefining global property: pi
when processing file: /home/mahdi/catkin_ws2/src/rotors_simulator/rotors_description/urdf/component_snippets.xacro
included from: src/ardupilot_sitl_gazebo_plugin/urdf/iris_base.xacro
Invalid parameter "gyroscopoe_random_walk"
XacroException('Invalid parameter "gyroscopoe_random_walk"',)
when instantiating macro: imu_plugin_macro (/home/mahdi/catkin_ws2/src/rotors_simulator/rotors_description/urdf/component_snippets.xacro)
in file: src/ardupilot_sitl_gazebo_plugin/urdf/iris_base.xacro

I've been working on this issue for several hours but I've got nothing. Please help me. Thanks for your consideration.

[AurelienRoy]

Hi Pourfard,
There is an extra"o" in your "gyroscopoe". Try renaming it in "gyroscope_random_walk".

Thank you so much AurelineRoy, I corrected the parameter name and the error disappeared. But now there is another problem. I hadn't edited the "iris_base.xacro" file. Why it is not correct in source version? Why I see these errors?

... logging to /root/.ros/log/b452c5ea-ac8f-11e7-8e27-000c2977e7ec/roslaunch-ubuntu-75023.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
redefining global property: pi
when processing file: /home/mahdi/catkin_ws2/src/ardupilot_sitl_gazebo_plugin/urdf/iris_base.xacro
Undefined parameters [child_frame_id]
XacroException(u'Undefined parameters [child_frame_id]',)
when instantiating macro: odometry_plugin_macro (/home/mahdi/catkin_ws2/src/ardupilot_sitl_gazebo_plugin/urdf/iris_base.xacro)
in file: /home/mahdi/catkin_ws2/src/ardupilot_sitl_gazebo_plugin/urdf/iris_base.xacro
while processing /home/mahdi/catkin_ws2/src/ardupilot_sitl_gazebo_plugin/launch/iris_spawn.launch:
Invalid <param> tag: Cannot load command parameter [robot_description]: command [     /opt/ros/lunar/share/xacro/xacro.py '/home/mahdi/catkin_ws2/src/ardupilot_sitl_gazebo_plugin/urdf/iris_base.xacro'     enable_logging:=true     enable_ground_truth:=true     log_file:=iris] returned with code [2]. 

Param xml is <param command="     $(find xacro)/xacro.py '$(arg model)'     enable_logging:=$(arg enable_logging)     enable_ground_truth:=$(arg enable_ground_truth)     log_file:=$(arg log_file)" name="robot_description"/>
The traceback for the exception was written to the log file

I added child_frame_id parameter and the above error gone. and new error appeared.

... logging to /root/.ros/log/6cc5f3c4-acd4-11e7-8e27-000c2977e7ec/roslaunch-ubuntu-79622.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
redefining global property: pi
when processing file: /home/mahdi/catkin_ws2/src/ardupilot_sitl_gazebo_plugin/urdf/iris_base.xacro
Undefined parameters [wait_to_record_bag]
XacroException(u'Undefined parameters [wait_to_record_bag]',)
when instantiating macro: bag_plugin_macro (/home/mahdi/catkin_ws2/src/ardupilot_sitl_gazebo_plugin/urdf/iris_base.xacro)
in file: /home/mahdi/catkin_ws2/src/ardupilot_sitl_gazebo_plugin/urdf/iris_base.xacro
while processing /home/mahdi/catkin_ws2/src/ardupilot_sitl_gazebo_plugin/launch/iris_spawn.launch:
Invalid <param> tag: Cannot load command parameter [robot_description]: command [     /opt/ros/lunar/share/xacro/xacro.py '/home/mahdi/catkin_ws2/src/ardupilot_sitl_gazebo_plugin/urdf/iris_base.xacro'     enable_logging:=true     enable_ground_truth:=true     log_file:=iris] returned with code [2]. 

Param xml is <param command="     $(find xacro)/xacro.py '$(arg model)'     enable_logging:=$(arg enable_logging)     enable_ground_truth:=$(arg enable_ground_truth)     log_file:=$(arg log_file)" name="robot_description"/>
The traceback for the exception was written to the log file

I added wait_to_record_bag="$(arg wait_to_record_bag)" parameter too and now the log file is like this:

... logging to /root/.ros/log/ef4654b4-acd5-11e7-8e27-000c2977e7ec/roslaunch-ubuntu-81478.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
redefining global property: pi
when processing file: /home/mahdi/catkin_ws2/src/ardupilot_sitl_gazebo_plugin/urdf/iris_base.xacro
xacro.py is deprecated; please use xacro instead
started roslaunch server http://ubuntu:44227/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_rate: 1.0
 * /mavros/conn/system_time_rate: 0.0
 * /mavros/conn/timeout: 10.0
 * /mavros/conn/timesync_rate: 0.0
 * /mavros/distance_sensor/rangefinder_pub/field_of_view: 0.0
 * /mavros/distance_sensor/rangefinder_pub/frame_id: lidar
 * /mavros/distance_sensor/rangefinder_pub/id: 0
 * /mavros/distance_sensor/rangefinder_pub/send_tf: False
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/rangefinder_sub/id: 1
 * /mavros/distance_sensor/rangefinder_sub/orientation: PITCH_270
 * /mavros/distance_sensor/rangefinder_sub/subscriber: True
 * /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/rate_limit: 10.0
 * /mavros/fake_gps/tf/send: False
 * /mavros/fake_gps/use_mocap: True
 * /mavros/fake_gps/use_vision: False
 * /mavros/fcu_url: tcp://127.0.0.1:5760
 * /mavros/gcs_url: udp://127.0.0.1@1...
 * /mavros/global_position/frame_id: map
 * /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: 0.000349065850399
 * /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/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/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/odometry/estimator_type: 3
 * /mavros/plugin_blacklist: ['actuator_contro...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.118682389136
 * /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/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/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: NONE
 * /mavros/vibration/frame_id: base_link
 * /mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /mavros/vision_pose/tf/frame_id: map
 * /mavros/vision_pose/tf/listen: False
 * /mavros/vision_pose/tf/rate_limit: 10.0
 * /mavros/vision_speed/listen_twist: False
 * /robot_description: <?xml version="1....
 * /rosdistro: lunar
 * /rosversion: 1.13.2
 * /tf_prefix: 
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    mavros (mavros/mavros_node)
    spawn_iris (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [81491]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ef4654b4-acd5-11e7-8e27-000c2977e7ec
process[rosout-1]: started with pid [81506]
started core service [/rosout]
process[mavros-2]: started with pid [81531]
process[spawn_iris-3]: started with pid [81532]
process[gazebo-4]: started with pid [81533]
process[gazebo_gui-5]: started with pid [81548]
[ INFO] [1507542056.861361429]: FCU URL: tcp://127.0.0.1:5760
[ WARN] [1507542056.862199198]: init: message from ASLUAV, MSG-ID 201 ignored! Table has different entry.
[ WARN] [1507542056.862940214]: init: message from autoquad, MSG-ID 150 ignored! Table has different entry.
[ WARN] [1507542056.863014731]: init: message from autoquad, MSG-ID 152 ignored! Table has different entry.
[ WARN] [1507542056.863488276]: init: message from matrixpilot, MSG-ID 150 ignored! Table has different entry.
[ WARN] [1507542056.863555131]: init: message from matrixpilot, MSG-ID 151 ignored! Table has different entry.
[ WARN] [1507542056.863606360]: init: message from matrixpilot, MSG-ID 152 ignored! Table has different entry.
[ WARN] [1507542056.863655207]: init: message from matrixpilot, MSG-ID 153 ignored! Table has different entry.
[ WARN] [1507542056.863675193]: init: message from matrixpilot, MSG-ID 155 ignored! Table has different entry.
[ WARN] [1507542056.863720721]: init: message from matrixpilot, MSG-ID 156 ignored! Table has different entry.
[ WARN] [1507542056.863768912]: init: message from matrixpilot, MSG-ID 157 ignored! Table has different entry.
[ WARN] [1507542056.863818177]: init: message from matrixpilot, MSG-ID 158 ignored! Table has different entry.
[ WARN] [1507542056.863944185]: init: message from matrixpilot, MSG-ID 170 ignored! Table has different entry.
[ WARN] [1507542056.863994647]: init: message from matrixpilot, MSG-ID 171 ignored! Table has different entry.
[ WARN] [1507542056.864042481]: init: message from matrixpilot, MSG-ID 172 ignored! Table has different entry.
[ WARN] [1507542056.864089341]: init: message from matrixpilot, MSG-ID 173 ignored! Table has different entry.
[ WARN] [1507542056.864136237]: init: message from matrixpilot, MSG-ID 174 ignored! Table has different entry.
[ WARN] [1507542056.864182755]: init: message from matrixpilot, MSG-ID 175 ignored! Table has different entry.
[ WARN] [1507542056.864229963]: init: message from matrixpilot, MSG-ID 176 ignored! Table has different entry.
[ WARN] [1507542056.864277485]: init: message from matrixpilot, MSG-ID 177 ignored! Table has different entry.
[ WARN] [1507542056.864325671]: init: message from matrixpilot, MSG-ID 178 ignored! Table has different entry.
[ WARN] [1507542056.864393673]: init: message from matrixpilot, MSG-ID 179 ignored! Table has different entry.
[ WARN] [1507542056.864441467]: init: message from matrixpilot, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1507542056.864634260]: init: message from matrixpilot, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1507542056.864693922]: init: message from matrixpilot, MSG-ID 182 ignored! Table has different entry.
[ WARN] [1507542056.864742348]: init: message from matrixpilot, MSG-ID 183 ignored! Table has different entry.
[ WARN] [1507542056.864789323]: init: message from matrixpilot, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1507542056.864836890]: init: message from matrixpilot, MSG-ID 185 ignored! Table has different entry.
[ WARN] [1507542056.864883105]: init: message from matrixpilot, MSG-ID 186 ignored! Table has different entry.
[ WARN] [1507542056.865099581]: init: message from paparazzi, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1507542056.865148243]: init: message from paparazzi, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1507542056.865203154]: init: message from paparazzi, MSG-ID 182 ignored! Table has different entry.
[ WARN] [1507542056.865250824]: init: message from paparazzi, MSG-ID 183 ignored! Table has different entry.
[ WARN] [1507542056.865296519]: init: message from paparazzi, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1507542056.865531413]: init: message from slugs, MSG-ID 170 ignored! Table has different entry.
[ WARN] [1507542056.865591070]: init: message from slugs, MSG-ID 172 ignored! Table has different entry.
[ WARN] [1507542056.865638233]: init: message from slugs, MSG-ID 173 ignored! Table has different entry.
[ WARN] [1507542056.865684460]: init: message from slugs, MSG-ID 176 ignored! Table has different entry.
[ WARN] [1507542056.865731255]: init: message from slugs, MSG-ID 177 ignored! Table has different entry.
[ WARN] [1507542056.865778766]: init: message from slugs, MSG-ID 179 ignored! Table has different entry.
[ WARN] [1507542056.865825342]: init: message from slugs, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1507542056.865871166]: init: message from slugs, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1507542056.865917869]: init: message from slugs, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1507542056.865964749]: init: message from slugs, MSG-ID 185 ignored! Table has different entry.
[ WARN] [1507542056.866010577]: init: message from slugs, MSG-ID 186 ignored! Table has different entry.
[ WARN] [1507542056.866056567]: init: message from slugs, MSG-ID 188 ignored! Table has different entry.
[ WARN] [1507542056.866104717]: init: message from slugs, MSG-ID 191 ignored! Table has different entry.
[ WARN] [1507542056.866151707]: init: message from slugs, MSG-ID 192 ignored! Table has different entry.
[ WARN] [1507542056.866198077]: init: message from slugs, MSG-ID 193 ignored! Table has different entry.
[ WARN] [1507542056.866254676]: init: message from slugs, MSG-ID 194 ignored! Table has different entry.
[ INFO] [1507542056.868129928]: tcp0: Server address: 127.0.0.1:5760
[ INFO] [1507542056.868950056]: GCS URL: udp://127.0.0.1@127.0.0.1:14550
[ INFO] [1507542056.869149561]: udp1: Bind address: 127.0.0.1:14555
[ INFO] [1507542056.869269304]: udp1: Remote address: 127.0.0.1:14550
[ INFO] [1507542056.904876623]: Plugin 3dr_radio loaded
[ INFO] [1507542056.916294040]: Plugin 3dr_radio initialized
[ INFO] [1507542056.916487375]: Plugin actuator_control blacklisted
[ INFO] [1507542056.919629544]: Plugin adsb loaded
[ INFO] [1507542056.953753761]: Plugin adsb initialized
[ INFO] [1507542056.953821775]: Plugin altitude blacklisted
[ INFO] [1507542056.953941752]: Plugin cam_imu_sync loaded
[ INFO] [1507542056.956391169]: Plugin cam_imu_sync initialized
[ INFO] [1507542056.956686912]: Plugin command loaded
[ INFO] [1507542057.058948904]: Plugin command initialized
[ INFO] [1507542057.059377885]: Plugin distance_sensor loaded
[ INFO] [1507542057.229958357]: Plugin distance_sensor initialized
[ INFO] [1507542057.230193702]: Plugin fake_gps loaded
[ INFO] [1507542057.352755276]: Plugin fake_gps initialized
[ INFO] [1507542057.353000528]: Plugin ftp blacklisted
[ INFO] [1507542057.354157825]: Plugin global_position loaded
[ INFO] [1507542057.566332408]: Plugin global_position initialized
[ INFO] [1507542057.566755065]: Plugin hil loaded
[ INFO] [1507542057.754236772]: Plugin hil initialized
[ INFO] [1507542057.754742054]: Plugin home_position loaded
[ INFO] [1507542057.828903336]: Plugin home_position initialized
[ INFO] [1507542057.829212626]: Plugin imu loaded
[ INFO] [1507542057.897952507]: Plugin imu initialized
[ INFO] [1507542057.898420009]: Plugin local_position loaded
[ INFO] [1507542057.957109342]: Plugin local_position initialized
[ INFO] [1507542057.957552968]: Plugin manual_control loaded
[ INFO] [1507542057.960660924]: Plugin manual_control initialized
[ INFO] [1507542057.960933313]: Plugin mocap_pose_estimate blacklisted
[ INFO] [1507542057.961268892]: Plugin odom loaded
[ INFO] [1507542057.988561027]: Plugin odom initialized
[ INFO] [1507542057.989149257]: Plugin param loaded
[ INFO] [1507542058.002261301]: Plugin param initialized
[ INFO] [1507542058.002392218]: Plugin px4flow blacklisted
[ INFO] [1507542058.002566485]: Plugin rangefinder loaded
[ INFO] [1507542058.005510306]: Plugin rangefinder initialized
[ INFO] [1507542058.008017371]: Plugin rc_io loaded
[ INFO] [1507542058.046590244]: Plugin rc_io initialized
[ INFO] [1507542058.046754548]: Plugin safety_area blacklisted
[ INFO] [1507542058.047025950]: Plugin setpoint_accel loaded
[ INFO] [1507542058.082262657]: Plugin setpoint_accel initialized
[ INFO] [1507542058.082602328]: Plugin setpoint_attitude loaded
[ INFO] [1507542058.160111635]: Plugin setpoint_attitude initialized
[ INFO] [1507542058.177954291]: Plugin setpoint_position loaded
[ INFO] [1507542058.317763417]: Plugin setpoint_position initialized
[ INFO] [1507542058.318273678]: Plugin setpoint_raw loaded
[ INFO] [1507542058.455249678]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1507542058.472183673]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1507542058.477778873]: Plugin setpoint_raw initialized
[ INFO] [1507542058.478030106]: Plugin setpoint_velocity loaded
[ INFO] [1507542058.520155546]: Plugin setpoint_velocity initialized
[ INFO] [1507542058.520574596]: Plugin sys_status loaded
[ INFO] [1507542058.567586055]: Plugin sys_status initialized
[ INFO] [1507542058.567965914]: Plugin sys_time loaded
[ INFO] [1507542058.646549863]: TM: Timesync mode: NONE
[ INFO] [1507542058.659774866]: Plugin sys_time initialized
[ INFO] [1507542058.660008306]: Plugin vfr_hud loaded
SpawnModel script started
[ INFO] [1507542058.685473724]: Plugin vfr_hud initialized
[ INFO] [1507542058.685580471]: Plugin vibration blacklisted
[ INFO] [1507542058.686004696]: Plugin vision_pose_estimate blacklisted
[ INFO] [1507542058.686395569]: Plugin vision_speed_estimate blacklisted
[ INFO] [1507542058.686922032]: Plugin waypoint loaded
[ INFO] [1507542058.743435027]: Plugin waypoint initialized
[ INFO] [1507542058.743618844]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1507542058.743666511]: Built-in MAVLink package version: 2017.9.9
[ INFO] [1507542058.743708614]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1507542058.743731926]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[INFO] [1507542058.925504, 0.000000]: Loading model XML from ros parameter
[INFO] [1507542058.951834, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
Error [parser.cc:692] Unable to find uri[model://erle]
Error [Param.cc:363] Unable to set value [0 0 9.81] for key[gravity]
Error [Param.cc:363] Unable to set value [0 0 9.81] for key[gravity]
[INFO] [1507542476.318661, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1507542476.476253677]: Model name:      erlecopter
[ INFO] [1507542476.476347795]: Nb motor servos: 4
[ INFO] [1507542476.555347972]: ARI: Services declared !
[ INFO] [1507542476.555633188]: ARI: Binding to listening port from ArduPilot...

[ INFO] [1507542476.555735469]: ARI: SUCCESS in binding to port from ArduPilot

[ INFO] [1507542476.555914071]: ARI: Connecting send port to ArduPilot...

[ INFO] [1507542476.556108116]: ARI: Opened ArduPilot fdm socket

[ INFO] [1507542476.556319943]: ARI: Initialization finished
[ INFO] [1507542476.556623819]: ARI: Starting listening loop for ArduPilot messages
Master Unknown message type[] From[46572]
Master Unknown message type[] From[46572]
Master Unknown message type[] From[46572]
Master Unknown message type[] From[46572]
[ INFO] [1507542479.291570228]: Camera Plugin: Using the 'robotNamespace' param: '/'
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[ INFO] [1507542479.305545558]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1507542479.307604263]: Camera Plugin: Using the 'robotNamespace' param: '/'
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[libprotobuf ERROR google/protobuf/message_lite.cc:118] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data
Master Unknown message type[] From[46572]
[INFO] [1507542479.312483, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1507542479.360600516]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[spawn_iris-3] process has finished cleanly
log file: /root/.ros/log/ef4654b4-acd5-11e7-8e27-000c2977e7ec/spawn_iris-3*.log
gzserver: /usr/include/boost/smart_ptr/shared_ptr.hpp:710: typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = gazebo::event::Connection; typename boost::detail::sp_member_access<T>::type = gazebo::event::Connection*]: Assertion `px != 0' failed.
Aborted (core dumped)
[gazebo-4] process has died [pid 81533, exit code 134, cmd /opt/ros/lunar/lib/gazebo_ros/gzserver -u -e ode /home/mahdi/catkin_ws2/src/ardupilot_sitl_gazebo_plugin/worlds/empty_world/empty.world __name:=gazebo __log:=/root/.ros/log/ef4654b4-acd5-11e7-8e27-000c2977e7ec/gazebo-4.log].
log file: /root/.ros/log/ef4654b4-acd5-11e7-8e27-000c2977e7ec/gazebo-4*.log

it waits several minutes after this line:
[INFO] [1507543950.433909, 0.000000]: Waiting for service /gazebo/spawn_urdf_model

Thanks for reply.

UPDATE: I uninstalled gazebo8 and installed gazebo7 and every thing is ok.