Error in make posix_sitl_default gazebo

[akshaykulkarni07]

I am performing simulation of a quadcopter with Pixhawk in offboard mode. I was following this link.

When I do
make posix_sitl_default

I get the following

-- PX4 VERSION: v1.8.0-beta2-16-g6ca0784
-- CONFIG: posix_sitl_default
-- Build Type: RelWithDebInfo
-- Found PythonInterp: /usr/bin/python (found version "2.7.12") 
-- Found PY_jinja2: /usr/local/lib/python2.7/dist-packages/jinja2  
-- C compiler: cc (Ubuntu 5.4.0-6ubuntu1~16.04.9) 5.4.0 20160609
-- C++ compiler: c++ (Ubuntu 5.4.0-6ubuntu1~16.04.9) 5.4.0 20160609
-- PX4 ECL: Very lightweight Estimation & Control Library v0.9.0-521-ga80b3ab
-- Configuring done
-- Generating done
-- Build files have been written to: /home/akshay/src/Firmware/build/posix_sitl_default
[562/632] Performing configure step for 'sitl_gazebo'
-- install-prefix: /usr/local
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler using: Ninja
-- Check for working C compiler using: Ninja -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler using: Ninja
-- Check for working CXX compiler using: Ninja -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1") 
-- Checking for module 'bullet>=2.82'
--   Found bullet, version 2.83
-- Found Simbody: /usr/include/simbody  
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   thread
--   signals
--   system
--   filesystem
--   program_options
--   regex
--   iostreams
--   date_time
--   chrono
--   atomic
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so  
-- Boost version: 1.58.0
-- Looking for OGRE...
-- OGRE_PREFIX_WATCH changed.
-- Checking for module 'OGRE'
--   Found OGRE, version 1.9.0
-- Found Ogre Ghadamon (1.9.0)
-- Found OGRE: optimized;/usr/lib/x86_64-linux-gnu/libOgreMain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreMain.so
-- Looking for OGRE_Paging...
-- Found OGRE_Paging: optimized;/usr/lib/x86_64-linux-gnu/libOgrePaging.so;debug;/usr/lib/x86_64-linux-gnu/libOgrePaging.so
-- Looking for OGRE_Terrain...
-- Found OGRE_Terrain: optimized;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so
-- Looking for OGRE_Property...
-- Found OGRE_Property: optimized;/usr/lib/x86_64-linux-gnu/libOgreProperty.so;debug;/usr/lib/x86_64-linux-gnu/libOgreProperty.so
-- Looking for OGRE_RTShaderSystem...
-- Found OGRE_RTShaderSystem: optimized;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so
-- Looking for OGRE_Volume...
-- Found OGRE_Volume: optimized;/usr/lib/x86_64-linux-gnu/libOgreVolume.so;debug;/usr/lib/x86_64-linux-gnu/libOgreVolume.so
-- Looking for OGRE_Overlay...
-- Found OGRE_Overlay: optimized;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so (Required is at least version "2.3.0") 
-- Config-file not installed for ZeroMQ -- checking for pkg-config
-- Checking for module 'libzmq >= 4'
--   Found libzmq , version 4.1.4
-- Found ZeroMQ: TRUE (Required is at least version "4") 
-- Checking for module 'uuid'
--   Found uuid, version 2.27.0
-- Found UUID: TRUE  
-- Checking for module 'tinyxml2'
--   Found tinyxml2, version 2.2.0
-- Looking for dlfcn.h - found
-- Looking for libdl - found
-- Found DL: TRUE  
-- FreeImage.pc not found, we will search for FreeImage_INCLUDE_DIRS and FreeImage_LIBRARIES
-- Checking for module 'gts'
--   Found gts, version 0.7.6
-- Found GTS: TRUE  
-- Checking for module 'libswscale'
--   Found libswscale, version 3.1.101
-- Found SWSCALE: TRUE  
-- Checking for module 'libavdevice >= 56.4.100'
--   Found libavdevice , version 56.4.100
-- Found AVDEVICE: TRUE (Required is at least version "56.4.100") 
-- Checking for module 'libavformat'
--   Found libavformat, version 56.40.101
-- Found AVFORMAT: TRUE  
-- Checking for module 'libavcodec'
--   Found libavcodec, version 56.60.100
-- Found AVCODEC: TRUE  
-- Checking for module 'libavutil'
--   Found libavutil, version 54.31.100
-- Found AVUTIL: TRUE  
-- Found CURL: /usr/lib/x86_64-linux-gnu/libcurl.so (found version "7.47.0") 
-- Checking for module 'jsoncpp'
--   Found jsoncpp, version 1.7.2
-- Found JSONCPP: TRUE  
-- Checking for module 'yaml-0.1'
--   Found yaml-0.1, version 0.1.6
-- Found YAML: TRUE  
-- Checking for module 'libzip'
--   Found libzip, version 1.0.1
-- Found ZIP: TRUE  
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   system
--   thread
--   timer
--   chrono
--   date_time
--   atomic
-- Found PythonInterp: /usr/bin/python (found version "2.7.12") 
-- Checking for module 'OGRE'
--   Found OGRE, version 1.9.0
-- Building klt_feature_tracker without catkin
-- Building OpticalFlow with OpenCV
-- Found MAVLink: /home/akshay/src/Firmware/mavlink/include (found version "2.0") 
-- catkin DISABLED
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so  
-- Checking for module 'protobuf'
--   Found protobuf, version 2.6.1
Gazebo version: 9.0
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   system
--   thread
--   timer
--   chrono
--   date_time
--   atomic
-- Configuring done
-- Generating done
-- Build files have been written to: /home/akshay/src/Firmware/build/posix_sitl_default/build_gazebo
[629/632] Performing build step for 'sitl_gazebo'
FAILED: cd /home/akshay/src/Firmware/build/posix_sitl_default/build_gazebo && /usr/bin/cmake --build . && /usr/bin/cmake -E touch /home/akshay/src/Firmware/build/posix_sitl_default/external/Stamp/sitl_gazebo/sitl_gazebo-build
[1/72] Running C++ protocol buffer compiler on msgs/Int32.proto
[2/72] Running C++ protocol buffer compiler on msgs/CommandMotorSpeed.proto
[3/72] Running C++ protocol buffer compiler on msgs/opticalFlow.proto
[4/72] Running C++ protocol buffer compiler on msgs/Float.proto
[5/72] Running C++ protocol buffer compiler on msgs/SITLGps.proto
[6/72] Generating /home/akshay/src/Firmware/Tools/sitl_gazebo/models/iris/iris.sdf
[7/72] Generating /home/akshay/src/Firmware/Tools/sitl_gazebo/models/c920/c920-gen.sdf
[8/72] Generating /home/akshay/src/Firmware/Tools/sitl_gazebo/models/pixhawk/pixhawk-gen.sdf
[9/72] Generating /home/akshay/src/Firmware/Tools/sitl_gazebo/models/3DR_gps_mag/3DR_gps_mag-gen.sdf
[10/72] Generating /home/akshay/src/Firmware/Tools/sitl_gazebo/models/mb1240-xl-ez4/mb1240-xl-ez4-gen.sdf
[11/72] Running C++ protocol buffer compiler on msgs/lidar.proto
[12/72] Running C++ protocol buffer compiler on msgs/SensorImu.proto
[13/72] Generating /home/akshay/src/Firmware/Tools/sitl_gazebo/models/r200/r200-gen.sdf
[14/72] Generating /home/akshay/src/Firmware/Tools/sitl_gazebo/models/matrice_100/matrice_100-gen.sdf
[15/72] Running C++ protocol buffer compiler on msgs/sonarSens.proto
[16/72] Running C++ protocol buffer compiler on msgs/irlock.proto
[17/72] Running C++ protocol buffer compiler on msgs/odom.proto
[18/72] Running C++ protocol buffer compiler on msgs/Groundtruth.proto
[19/72] Running C++ protocol buffer compiler on msgs/MotorSpeed.proto
[20/72] Generating /home/akshay/src/Firmware/Tools/sitl_gazebo/models/sf10a/sf10a-gen.sdf
[21/72] Generating /home/akshay/src/Firmware/Tools/sitl_gazebo/models/px4flow/px4flow-gen.sdf
[22/72] Building CXX object CMakeFiles/mav_msgs.dir/SITLGps.pb.cc.o
/home/akshay/src/Firmware/Tools/sitl_gazebo/models/3DR_gps_mag/3DR_gps_mag.sdf.jinja -> /home/akshay/src/Firmware/Tools/sitl_gazebo/models/3DR_gps_mag/3DR_gps_mag-gen.sdf
[23/72] Building CXX object CMakeFiles/mav_msgs.dir/Groundtruth.pb.cc.o
/home/akshay/src/Firmware/Tools/sitl_gazebo/models/pixhawk/pixhawk.sdf.jinja -> /home/akshay/src/Firmware/Tools/sitl_gazebo/models/pixhawk/pixhawk-gen.sdf
[24/72] Building CXX object CMakeFiles/mav_msgs.dir/Int32.pb.cc.o
/home/akshay/src/Firmware/Tools/sitl_gazebo/models/r200/r200.sdf.jinja -> /home/akshay/src/Firmware/Tools/sitl_gazebo/models/r200/r200-gen.sdf
[25/72] Building CXX object CMakeFiles/mav_msgs.dir/irlock.pb.cc.o
/home/akshay/src/Firmware/Tools/sitl_gazebo/models/mb1240-xl-ez4/mb1240-xl-ez4.sdf.jinja -> /home/akshay/src/Firmware/Tools/sitl_gazebo/models/mb1240-xl-ez4/mb1240-xl-ez4-gen.sdf
[26/72] Building CXX object CMakeFiles/mav_msgs.dir/opticalFlow.pb.cc.o
/home/akshay/src/Firmware/Tools/sitl_gazebo/models/c920/c920.sdf.jinja -> /home/akshay/src/Firmware/Tools/sitl_gazebo/models/c920/c920-gen.sdf
[27/72] Building CXX object CMakeFiles/mav_msgs.dir/SensorImu.pb.cc.o
/home/akshay/src/Firmware/Tools/sitl_gazebo/models/px4flow/px4flow.sdf.jinja -> /home/akshay/src/Firmware/Tools/sitl_gazebo/models/px4flow/px4flow-gen.sdf
[28/72] Building CXX object CMakeFiles/mav_msgs.dir/MotorSpeed.pb.cc.o
/home/akshay/src/Firmware/Tools/sitl_gazebo/models/sf10a/sf10a.sdf.jinja -> /home/akshay/src/Firmware/Tools/sitl_gazebo/models/sf10a/sf10a-gen.sdf
[29/72] Building CXX object CMakeFiles/mav_msgs.dir/Float.pb.cc.o
/home/akshay/src/Firmware/Tools/sitl_gazebo/models/matrice_100/matrice_100.sdf.jinja -> /home/akshay/src/Firmware/Tools/sitl_gazebo/models/matrice_100/matrice_100-gen.sdf
[30/72] Building CXX object CMakeFiles/mav_msgs.dir/lidar.pb.cc.o

[31/72] Building CXX object CMakeFiles/mav_msgs.dir/sonarSens.pb.cc.o
[32/72] Building CXX object CMakeFiles/mav_msgs.dir/CommandMotorSpeed.pb.cc.o
[33/72] Building CXX object CMakeFiles/mav_msgs.dir/odom.pb.cc.o
[34/72] Building CXX object OpticalFlow/klt_feature_tracker/CMakeFiles/klt_feature_tracker.dir/src/trackFeatures.cpp.o
[35/72] Linking CXX shared library libmav_msgs.so
[36/72] Linking CXX static library OpticalFlow/klt_feature_tracker/libklt_feature_tracker.a
[37/72] Building CXX object OpticalFlow/CMakeFiles/OpticalFlow.dir/src/optical_flow.cpp.o
[38/72] Building CXX object OpticalFlow/CMakeFiles/OpticalFlow.dir/src/flow_px4.cpp.o
[39/72] Building CXX object OpticalFlow/CMakeFiles/OpticalFlow.dir/src/px4flow.cpp.o
[40/72] Building CXX object OpticalFlow/CMakeFiles/OpticalFlow.dir/src/flow_opencv.cpp.o
[41/72] Building CXX object CMakeFiles/rotors_gazebo_motor_model.dir/src/gazebo_motor_model.cpp.o
[42/72] Building CXX object CMakeFiles/gazebo_lidar_plugin.dir/src/gazebo_lidar_plugin.cpp.o
[43/72] Building CXX object CMakeFiles/rotors_gazebo_imu_plugin.dir/src/gazebo_imu_plugin.cpp.o
[44/72] Building CXX object CMakeFiles/rotors_gazebo_multirotor_base_plugin.dir/src/gazebo_multirotor_base_plugin.cpp.o
[45/72] Building CXX object CMakeFiles/rotors_gazebo_controller_interface.dir/src/gazebo_controller_interface.cpp.o
[46/72] Building CXX object CMakeFiles/rotors_gazebo_mavlink_interface.dir/src/gazebo_mavlink_interface.cpp.o
[47/72] Building CXX object CMakeFiles/gazebo_sonar_plugin.dir/src/gazebo_sonar_plugin.cpp.o
[48/72] Building CXX object CMakeFiles/rotors_gazebo_mavlink_interface.dir/src/geo_mag_declination.cpp.o
[49/72] Building CXX object CMakeFiles/gazebo_irlock_plugin.dir/src/gazebo_irlock_plugin.cpp.o
[50/72] Building CXX object CMakeFiles/rotors_gazebo_gimbal_controller_plugin.dir/src/gazebo_gimbal_controller_plugin.cpp.o
[51/72] Building CXX object CMakeFiles/gazebo_uuv_plugin.dir/src/gazebo_uuv_plugin.cpp.o
[52/72] Linking CXX shared library librotors_gazebo_multirotor_base_plugin.so
FAILED: /usr/bin/c++   -DLIBBULLET_VERSION=2.83 -DLIBBULLET_VERSION_GT_282 -Drotors_gazebo_mavlink_interface_EXPORTS -I/usr/include/opencv -isystem /usr/include/gazebo-9 -isystem /usr/include/bullet -isystem /usr/include/simbody -isystem /usr/include/sdformat-6.0 -isystem /usr/include/ignition/math4 -isystem /usr/include/OGRE -isystem /usr/include/OGRE/Terrain -isystem /usr/include/OGRE/Paging -isystem /usr/include/ignition/transport4 -isystem /usr/include/ignition/msgs1 -isystem /usr/include/ignition/common1 -isystem /usr/include/ignition/fuel_tools1 -I/home/akshay/src/Firmware/Tools/sitl_gazebo/include -I/home/akshay/src/Firmware/Tools/sitl_gazebo/external/OpticalFlow/include -I/usr/include/gazebo-9/gazebo/msgs -I/usr/include/eigen3 -I. -I/usr/include/eigen3/eigen3 -I/usr/local/include/OGRE -I/usr/local/include/OGRE/Paging -I/home/akshay/src/Firmware/mavlink/include -isystem /usr/include/uuid -isystem /usr/include/x86_64-linux-gnu -std=c++11 -std=c++11 -Wno-deprecated-declarations -fPIC   -I/usr/include/uuid -I/usr/include/x86_64-linux-gnu -std=gnu++14 -MMD -MT CMakeFiles/rotors_gazebo_mavlink_interface.dir/src/gazebo_mavlink_interface.cpp.o -MF CMakeFiles/rotors_gazebo_mavlink_interface.dir/src/gazebo_mavlink_interface.cpp.o.d -o CMakeFiles/rotors_gazebo_mavlink_interface.dir/src/gazebo_mavlink_interface.cpp.o -c /home/akshay/src/Firmware/Tools/sitl_gazebo/src/gazebo_mavlink_interface.cpp
/home/akshay/src/Firmware/Tools/sitl_gazebo/src/gazebo_mavlink_interface.cpp: In member function ‘virtual void gazebo::GazeboMavlinkInterface::Load(gazebo::physics::ModelPtr, sdf::ElementPtr)’:
/home/akshay/src/Firmware/Tools/sitl_gazebo/src/gazebo_mavlink_interface.cpp:279:23: error: ‘class gazebo::physics::World’ has no member named ‘GetName’
   model_param(world_->GetName(), model_->GetName(), "mavlink_udp_port", mavlink_udp_port_);
                       ^
ninja: build stopped: subcommand failed.
ninja: build stopped: subcommand failed.
Makefile:147: recipe for target 'posix_sitl_default' failed
make: *** [posix_sitl_default] Error 1

I had previously followed the same method and that had worked correctly. However, I tried to start over and encountered this error.

Could you advise on how to proceed? Thanks.

[TSC21]

What Gazebo version are you using?

[akshaykulkarni07]

@TSC21 I am using Gazebo 9.0.0

[TSC21]

Ok this should need a fix on sitl_gazebo to support Gazebo 9 aswell. This function was introduced in the latest commits for sitl_gazebo so this needs a compatibility fix (current CI builds over version 7). I will push a fix and let you know later today.

[TSC21]

In the mean time, for it to work, regress the commit tag of sitl_gazebo to a previous commit (4 tags bellow should be enough).

[TSC21]

The fix should include this: http://answers.gazebosim.org/question/16388/getname-has-not-been-declared-gazebo-9/. So GetName() should become Name() for Gazebo 9. You can also try to change it on the source code, but a fix will be pushed later today.

[akshaykulkarni07]

Thank you for helping.

[TSC21]

@akshaykvnit fix here: PX4/PX4-SITL_gazebo-classic#210