Mavlink plugin not working in custom urdf #1060
Description
I have custom urdf file which I make by following discussion to make my custom sitl vehicle work with Gazebo simulation and QGC so I can test my offboard code. I built my custom model by make px4_sitl gazebo-classic_my_custom_uav the drone launch in the gazebo but not connected to QGC and mavlink[info] messages are not showing on the terminal
<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="my_custom_uav">
<link
name="base_link">
<inertial>
<origin
xyz="0.0066871 0.00057296 0.071314"
rpy="0 0 0" />
<mass
value="2.2494" />
<inertia
ixx="0.024649"
ixy="-7.8701E-06"
ixz="-4.0429E-06"
iyy="0.024447"
iyz="-1.0355E-05"
izz="0.046713" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://my_custom_uav/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://my_custom_uav/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="m1">
<inertial>
<origin
xyz="-0.000275758863509959 -0.00027577321010086 -0.0288987241999298"
rpy="0 0 0" />
<mass
value="0.0102857652690979" />
<inertia
ixx="1.4471352439084E-06"
ixy="2.46724635603962E-11"
ixz="2.61968213356202E-09"
iyy="1.44713594954588E-06"
iyz="2.61993099804036E-09"
izz="1.72167745600157E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://my_custom_uav/meshes/m1.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://my_custom_uav/meshes/m1.STL" />
</geometry>
</collision>
</link>
<joint
name="m1_joint"
type="continuous">
<origin
xyz="0.11217 -0.10398 0.12615"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="m1" />
<axis
xyz="-0.0095408 -0.0095408 -0.99991" />
</joint>
<link
name="m2">
<inertial>
<origin
xyz="-0.000272221631635844 -0.000272255939544136 -0.0286865771873337"
rpy="0 0 0" />
<mass
value="0.0102857478418043" />
<inertia
ixx="1.44713076137831E-06"
ixy="2.29625650675118E-11"
ixz="2.60557507064569E-09"
iyy="1.4471320056128E-06"
iyz="2.60579985646894E-09"
izz="1.72167247935181E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://my_custom_uav/meshes/m2.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://my_custom_uav/meshes/m2.STL" />
</geometry>
</collision>
</link>
<joint
name="m2_joint"
type="continuous">
<origin
xyz="-0.096433 0.10461 0.12615"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="m2" />
<axis
xyz="-0.0094894 -0.0094894 -0.99991" />
</joint>
<link
name="m3">
<inertial>
<origin
xyz="2.89490929838987E-09 -1.63433913485944E-08 -0.0287104001418812"
rpy="0 0 0" />
<mass
value="0.0102857800929994" />
<inertia
ixx="1.44709571315124E-06"
ixy="4.31100888110847E-13"
ixz="-1.44573959844029E-14"
iyy="1.44709405962182E-06"
iyz="4.1500658909426E-14"
izz="1.72177328424404E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://my_custom_uav/meshes/m3.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://my_custom_uav/meshes/m3.STL" />
</geometry>
</collision>
</link>
<joint
name="m3_joint"
type="continuous">
<origin
xyz="0.11165 0.1041 0.12615"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="m3" />
<axis
xyz="0 0 -1" />
</joint>
<link
name="m4">
<inertial>
<origin
xyz="1.49283443939829E-08 7.41013032878879E-09 -0.0286372331979752"
rpy="0 0 0" />
<mass
value="0.0102857482454295" />
<inertia
ixx="1.44709040698161E-06"
ixy="-9.15033797187728E-13"
ixz="-5.3723169747007E-14"
iyy="1.44709203266332E-06"
iyz="-2.82333857319929E-14"
izz="1.72176589016756E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://my_custom_uav/meshes/m4.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://my_custom_uav/meshes/m4.STL" />
</geometry>
</collision>
</link>
<joint
name="m4_joint"
type="continuous">
<origin
xyz="-0.096947 -0.1045 0.12615"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="m4" />
<axis
xyz="0 0 -1" />
</joint>
<link
name="snrFront">
<inertial>
<origin
xyz="-0.0177967661767461 4.53859066038183E-06 -0.00031595445755115"
rpy="0 0 0" />
<mass
value="0.0417832231932906" />
<inertia
ixx="1.19955441736062E-05"
ixy="4.71164873249512E-10"
ixz="7.25520358462022E-09"
iyy="6.2212244077722E-06"
iyz="4.7974277200154E-10"
izz="1.38274306764758E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://my_custom_uav/meshes/snrFront.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://my_custom_uav/meshes/snrFront.STL" />
</geometry>
</collision>
</link>
<joint
name="snrFront_joint"
type="fixed">
<origin
xyz="0.18415 -0.00064622 0.046998"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="snrFront" />
<axis
xyz="0 0 0" />
</joint>
<link
name="snrRight">
<inertial>
<origin
xyz="2.56888033192681E-06 0.0177967563442594 -0.000315977318943488"
rpy="0 0 0" />
<mass
value="0.0417832516253194" />
<inertia
ixx="6.22153204590513E-06"
ixy="-5.16098761563559E-10"
ixz="4.79056100849948E-08"
iyy="1.19955543161854E-05"
iyz="-7.25258856330149E-09"
izz="1.38271454207545E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://my_custom_uav/meshes/snrRight.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://my_custom_uav/meshes/snrRight.STL" />
</geometry>
</collision>
</link>
<joint
name="snrRight_joint"
type="fixed">
<origin
xyz="0.0068085 -0.177 0.047111"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="snrRight" />
<axis
xyz="0 0 0" />
</joint>
<link
name="snrLeft">
<inertial>
<origin
xyz="-6.49661415278525E-06 -0.0177967661425235 -0.00031592026237609"
rpy="0 0 0" />
<mass
value="0.0417832225289182" />
<inertia
ixx="6.22151056501415E-06"
ixy="-4.26229521809202E-10"
ixz="4.6661314763127E-08"
iyy="1.19955440673549E-05"
iyz="7.25805879481062E-09"
izz="1.38271444603464E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://my_custom_uav/meshes/snrLeft.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://my_custom_uav/meshes/snrLeft.STL" />
</geometry>
</collision>
</link>
<joint
name="snrLeft_joint"
type="fixed">
<origin
xyz="0.0076985 0.1766 0.046887"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="snrLeft" />
<axis
xyz="0 0 0" />
</joint>
<link
name="snrBack">
<inertial>
<origin
xyz="0.0177967661767452 4.53859066068172E-06 0.000315954457550827"
rpy="0 0 0" />
<mass
value="0.0417832231932911" />
<inertia
ixx="1.19955441736059E-05"
ixy="-4.71164873479946E-10"
ixz="7.25520358459577E-09"
iyy="6.22122440777232E-06"
iyz="-4.79742771489464E-10"
izz="1.38274306764757E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://my_custom_uav/meshes/snrBack.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://my_custom_uav/meshes/snrBack.STL" />
</geometry>
</collision>
</link>
<joint
name="snrBack_joint"
type="fixed">
<origin
xyz="-0.16945 0.00023378 0.046995"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="snrBack" />
<axis
xyz="0 0 0" />
</joint>
<link
name="snrDown">
<inertial>
<origin
xyz="0.000315954457550942 -4.53859066055956E-06 0.0177967661767461"
rpy="0 0 0" />
<mass
value="0.0417832231932894" />
<inertia
ixx="1.38274306764755E-05"
ixy="4.79742771011211E-10"
ixz="7.25520358460153E-09"
iyy="6.22122440777185E-06"
iyz="4.71164873348793E-10"
izz="1.1995544173606E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://my_custom_uav/meshes/snrDown.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://my_custom_uav/meshes/snrDown.STL" />
</geometry>
</collision>
</link>
<joint
name="snrDown_joint"
type="fixed">
<origin
xyz="0.061376 -0.00022611 -0.006"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="snrDown" />
<axis
xyz="0 0 0" />
</joint>
<link
name="lidar_link">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="0" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://my_custom_uav/meshes/lidar_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://my_custom_uav/meshes/lidar_link.STL" />
</geometry>
</collision>
</link>
<joint
name="lidar_joint"
type="fixed">
<origin
xyz="0.0073529 -0.00020118 0.1646"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="lidar_link" />
<axis
xyz="0 0 0" />
</joint>
<plugin name='rosbag' filename='libgazebo_multirotor_base_plugin.so'>
<robotNamespace/>
<linkName>base_link</linkName>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='front_right_motor_model' filename='libgazebo_motor_model.so'>
<robotNamespace/>
<jointName>m1_joint</jointName>
<linkName>m1</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1100</maxRotVelocity>
<motorConstant>5.84e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>0</motorNumber>
<rotorDragCoefficient>0.000175</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/0</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='back_left_motor_model' filename='libgazebo_motor_model.so'>
<robotNamespace/>
<jointName>m2_joint</jointName>
<linkName>m2</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1100</maxRotVelocity>
<motorConstant>5.84e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>1</motorNumber>
<rotorDragCoefficient>0.000175</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/1</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='front_left_motor_model' filename='libgazebo_motor_model.so'>
<robotNamespace/>
<jointName>m3_joint</jointName>
<linkName>m3</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1100</maxRotVelocity>
<motorConstant>5.84e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>2</motorNumber>
<rotorDragCoefficient>0.000175</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/2</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='back_right_motor_model' filename='libgazebo_motor_model.so'>
<robotNamespace/>
<jointName>m4_joint</jointName>
<linkName>m4</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1100</maxRotVelocity>
<motorConstant>5.84e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>3</motorNumber>
<rotorDragCoefficient>0.000175</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/3</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<!-- <include>
<uri>model://gps</uri>
<pose>0.05 0 0.04 0 0 0</pose>
<name>gps0</name>
</include>
<joint name='gps0_joint' type='fixed'>
<child>gps0::link</child>
<parent>base_link</parent>
</joint> -->
<plugin name='groundtruth_plugin' filename='libgazebo_groundtruth_plugin.so'>
<robotNamespace/>
</plugin>
<plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
<robotNamespace/>
<pubRate>100</pubRate>
<noiseDensity>0.0004</noiseDensity>
<randomWalk>6.4e-06</randomWalk>
<biasCorrelationTime>600</biasCorrelationTime>
<magTopic>/mag</magTopic>
</plugin>
<plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
<robotNamespace/>
<pubRate>50</pubRate>
<baroTopic>/baro</baroTopic>
<baroDriftPaPerSec>0</baroDriftPaPerSec>
</plugin>
<plugin name='rotors_gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
<robotNamespace/>
<linkName>/base_link</linkName>
<imuTopic>/imu</imuTopic>
<gyroscopeNoiseDensity>0.00018665</gyroscopeNoiseDensity>
<gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
<gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
<gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma>
<accelerometerNoiseDensity>0.00186</accelerometerNoiseDensity>
<accelerometerRandomWalk>0.006</accelerometerRandomWalk>
<accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
<accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma>
</plugin>
<plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>
<robotNamespace/>
<imuSubTopic>/imu</imuSubTopic>
<magSubTopic>/mag</magSubTopic>
<baroSubTopic>/baro</baroSubTopic>
<mavlink_addr>INADDR_ANY</mavlink_addr>
<mavlink_tcp_port>4560</mavlink_tcp_port>
<mavlink_udp_port>14560</mavlink_udp_port>
<serialEnabled>0</serialEnabled>
<serialDevice>/dev/ttyACM0</serialDevice>
<baudRate>921600</baudRate>
<qgc_addr>INADDR_ANY</qgc_addr>
<qgc_udp_port>14550</qgc_udp_port>
<sdk_addr>INADDR_ANY</sdk_addr>
<sdk_udp_port>14540</sdk_udp_port>
<hil_mode>0</hil_mode>
<hil_state_level>0</hil_state_level>
<send_vision_estimation>0</send_vision_estimation>
<send_odometry>1</send_odometry>
<enable_lockstep>1</enable_lockstep>
<use_tcp>1</use_tcp>
<motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
<control_channels>
<channel name='m1'>
<input_index>0</input_index>
<input_offset>0</input_offset>
<input_scaling>1000</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>100</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
</channel>
<channel name='m2'>
<input_index>1</input_index>
<input_offset>0</input_offset>
<input_scaling>1000</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>100</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
</channel>
<channel name='m3'>
<input_index>2</input_index>
<input_offset>0</input_offset>
<input_scaling>1000</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>100</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
</channel>
<channel name='m4'>
<input_index>3</input_index>
<input_offset>0</input_offset>
<input_scaling>1000</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>100</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
</channel>
<channel name='m5'>
<input_index>4</input_index>
<input_offset>1</input_offset>
<input_scaling>324.6</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
<joint_control_pid>
<p>0.1</p>
<i>0</i>
<d>0</d>
<iMax>0.0</iMax>
<iMin>0.0</iMin>
<cmdMax>2</cmdMax>
<cmdMin>-2</cmdMin>
</joint_control_pid>
<joint_name>zephyr_delta_wing::propeller_joint</joint_name>
</channel>
<channel name='m6'>
<input_index>5</input_index>
<input_offset>0</input_offset>
<input_scaling>0.524</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>position</joint_control_type>
<joint_name>zephyr_delta_wing::flap_left_joint</joint_name>
<joint_control_pid>
<p>10.0</p>
<i>0</i>
<d>0</d>
<iMax>0</iMax>
<iMin>0</iMin>
<cmdMax>20</cmdMax>
<cmdMin>-20</cmdMin>
</joint_control_pid>
</channel>
<channel name='m7'>
<input_index>6</input_index>
<input_offset>0</input_offset>
<input_scaling>0.524</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>position</joint_control_type>
<joint_name>zephyr_delta_wing::flap_right_joint</joint_name>
<joint_control_pid>
<p>10.0</p>
<i>0</i>
<d>0</d>
<iMax>0</iMax>
<iMin>0</iMin>
<cmdMax>20</cmdMax>
<cmdMin>-20</cmdMin>
</joint_control_pid>
</channel>
<channel name='m8'>
<input_index>7</input_index>
<input_offset>0</input_offset>
<input_scaling>0.524</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>position</joint_control_type>
</channel>
</control_channels>
</plugin>
<!-- <static>0</static> -->
</robot>
