NO position lock in SITL-EKF2

[ChenYunan]

Bug Report

I updated my gazebo from 8 to 10. And make the SITL: make posix gazebo, the iris denied takeoff.

pxh> commander takeoff
WARN [commander] rejecting takeoff, no position lock yet. Please retry..

pxh> commander check
WARN [commander_tests] PREFLIGHT FAIL: GPS RECEIVER MISSING
WARN [commander_tests] PREFLIGHT FAIL: EKF NOT USING GPS
WARN [commander] Preflight check: FAILED
WARN [commander] Prearm check: OK
pxh> commander_tests
INFO [commander_tests] RUNNING TEST: armingStateTransitionTest
WARN [commander_tests] TRANSITION_DENIED: ARMING_STATE_INIT - ARMING_STATE_ARMED
WARN [commander_tests] TRANSITION_DENIED: ARMING_STATE_STANDBY - ARMING_STATE_ARMED_ERROR
WARN [commander_tests] TRANSITION_DENIED: ARMING_STATE_ARMED - ARMING_STATE_INIT
WARN [commander_tests] TRANSITION_DENIED: ARMING_STATE_ARMED - ARMING_STATE_REBOOT
WARN [commander_tests] TRANSITION_DENIED: ARMING_STATE_ARMED_ERROR - ARMING_STATE_ARMED
WARN [commander_tests] TRANSITION_DENIED: ARMING_STATE_ARMED_ERROR - ARMING_STATE_REBOOT
WARN [commander_tests] Preflight check resolved, reboot before arming
WARN [commander_tests] Preflight check resolved, reboot to complete
WARN [commander_tests] TRANSITION_DENIED: ARMING_STATE_REBOOT - ARMING_STATE_ARMED
WARN [commander_tests] TRANSITION_DENIED: ARMING_STATE_IN_AIR_RESTORE - ARMING_STATE_STANDBY
WARN [commander_tests] NOT ARMING: Press safety switch first!
INFO [commander_tests] TEST PASSED: armingStateTransitionTest
INFO [commander_tests] RUNNING TEST: mainStateTransitionTest
INFO [commander_tests] TEST PASSED: mainStateTransitionTest
INFO [commander_tests] RUNNING TEST: isSafeTest
INFO [commander_tests] TEST PASSED: isSafeTest
INFO [commander_tests] ALL TESTS PASSED
INFO [commander_tests] Tests passed : 3
INFO [commander_tests] Tests failed : 0
INFO [commander_tests] Tested assertions : 167

How can I fix this issue?
Thank you.

[hamishwillee]

Gazebo 10 is AFAIK not supported. Gazebo 9 support went in today I think. @julianoes might have tried this.

[ChenYunan]

@hamishwillee Thanks for your reply! However, I tried on Gazebo 9 and Gazebo 8 (using apt-get install/autoremove), it had the same problem.
I can start 'make posix gazebo' successfully before I updated the version of Gazebo from 8 to 10.
But this time, I don't know what's going on. I think maybe it's not about the Gazebo version. Instead, there is no information (come from 'make posix jmavsim') below:
'INFO [lib__ecl] EKF aligned, (pressure height, IMU buf: 22, OBS buf: 14)
INFO [lib__ecl] EKF GPS checks passed (WGS-84 origin set)
INFO [lib__ecl] EKF commencing GPS fusion
INFO [tone_alarm] home_set'

[ChenYunan]

However, it is able to work with lpe instead of ekf2.

[julianoes]

@ChenYunan we only added compatibility with Gazebo 9, not 10 yet. If you can find out what the issue is and make a pull request that would be great.

[ChenYunan]

I think it has nothing to do with the Gazebo version. I re-clone and build the px4 Firmware with tag 1.7.4, and running SITL with Gazebo 9, the issue is gone. This Q&A can be closed. Thank you!