make px4_sitL_default Gazebo for version 1.11.3 will result in an error，FAILED: /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/iris/iris.sdf

[xing-xu]

Describe the bug

I have no issues compiling make px4_sitL_default Gazebo for version 1.11.0-beta1, but compiling make px4_sitL_default Gazebo for version 1.11.3 will result in an error

To Reproduce

[Bug] -- Build files have been written to: /home/gjx/PX4/PX4_Firmware/build/px4_sitl_default/build_gazebo [213/749] Performing build step for 'sitl_gazebo' [2/109] Generating /home/gjx/PX4/PX4_F...ls/mb1240-xl-ez4/mb1240-xl-ez4-gen.sdf /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/mb1240-xl-ez4/mb1240-xl-ez4.sdf.jinja -> /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/mb1240-xl-ez4/mb1240-xl-ez4-gen.sdf [4/109] Generating /home/gjx/PX4/PX4_F...ebo/models/cloudship/cloudship-gen.sdf /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/cloudship/cloudship.sdf.jinja -> /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/cloudship/cloudship-gen.sdf [10/109] Generating /home/gjx/PX4/PX4_...models/3DR_gps_mag/3DR_gps_mag-gen.sdf /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/3DR_gps_mag/3DR_gps_mag.sdf.jinja -> /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/3DR_gps_mag/3DR_gps_mag-gen.sdf [11/109] Generating /home/gjx/PX4/PX4_...gazebo/models/pixhawk/pixhawk-gen.sdf /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/pixhawk/pixhawk.sdf.jinja -> /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/pixhawk/pixhawk-gen.sdf [12/109] Generating /home/gjx/PX4/PX4...s/sitl_gazebo/models/c920/c920-gen.sdf /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/c920/c920.sdf.jinja -> /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/c920/c920-gen.sdf [13/109] Generating /home/gjx/PX4/PX4_...gazebo/models/px4flow/px4flow-gen.sdf /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/px4flow/px4flow.sdf.jinja -> /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/px4flow/px4flow-gen.sdf [15/109] Generating /home/gjx/PX4/PX4...s/sitl_gazebo/models/r200/r200-gen.sdf /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/r200/r200.sdf.jinja -> /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/r200/r200-gen.sdf [18/109] Generating /home/gjx/PX4/PX4_...models/matrice_100/matrice_100-gen.sdf /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/matrice_100/matrice_100.sdf.jinja -> /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/matrice_100/matrice_100-gen.sdf [25/109] Generating /home/gjx/PX4/PX4_...Tools/sitl_gazebo/models/iris/iris.sdf FAILED: /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/iris/iris.sdf cd /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo && rm -f /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/iris/iris.sdf && /usr/bin/python3 /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/scripts/xacro.py -o /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/rotors_description/urdf/iris_base.urdf /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/rotors_description/urdf/iris_base.xacro enable_mavlink_interface:=true enable_ground_truth:=false enable_wind:=false enable_logging:=false rotors_description_dir:=/home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/rotors_description send_vision_estimation:=false send_odometry:=true && gz sdf -p /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/rotors_description/urdf/iris_base.urdf >> /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/iris/iris.sdf && rm -f /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/rotors_description/urdf/iris_base.urdf Traceback (most recent call last): File "/home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/scripts/xacro.py", line 742, in main() File "/home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/scripts/xacro.py", line 727, in main eval_self_contained(doc) File "/home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/scripts/xacro.py", line 654, in eval_self_contained eval_all(doc.documentElement, macros, symbols) File "/home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/scripts/xacro.py", line 537, in eval_all raise XacroException( main.XacroException: Invalid parameter "baro_drift_pa_per_sec" while expanding macro "xacro:barometer_plugin_macro" [26/109] Building CXX object CMakeFiles/sensor_msgs.dir/Float.pb.cc.o ninja: build stopped: subcommand failed. [330/749] Building CXX object src/modu...dules__uORB.dir/uORBDeviceMaster.cpp.o FAILED: external/Stamp/sitl_gazebo/sitl_gazebo-build cd /home/gjx/PX4/PX4_Firmware/build/px4_sitl_default/build_gazebo && /usr/bin/cmake --build /home/gjx/PX4/PX4_Firmware/build/px4_sitl_default/build_gazebo -- -j2 [340/749] Building CXX object src/modu...dules__uORB.dir/uORBDeviceMaster.cpp.o ninja: build stopped: subcommand failed. make: *** [Makefile:219: px4_sitl_default] Error 1

Expected behavior

FAILED: /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/iris/iris.sdf
cd /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo && rm -f /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/iris/iris.sdf && /usr/bin/python3 /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/scripts/xacro.py -o /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/rotors_description/urdf/iris_base.urdf /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/rotors_description/urdf/iris_base.xacro enable_mavlink_interface:=true enable_ground_truth:=false enable_wind:=false enable_logging:=false rotors_description_dir:=/home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/rotors_description send_vision_estimation:=false send_odometry:=true && gz sdf -p /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/rotors_description/urdf/iris_base.urdf >> /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/iris/iris.sdf && rm -f /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/rotors_description/urdf/iris_base.urdf
Traceback (most recent call last):
File "/home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/scripts/xacro.py", line 742, in
main()
File "/home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/scripts/xacro.py", line 727, in main
eval_self_contained(doc)
File "/home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/scripts/xacro.py", line 654, in eval_self_contained
eval_all(doc.documentElement, macros, symbols)
File "/home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/scripts/xacro.py", line 537, in eval_all
raise XacroException(
main.XacroException: Invalid parameter "baro_drift_pa_per_sec" while expanding macro "xacro:barometer_plugin_macro"
[26/109] Building CXX object CMakeFiles/sensor_msgs.dir/Float.pb.cc.o
ninja: build stopped: subcommand failed.
[330/749] Building CXX object src/modu...dules__uORB.dir/uORBDeviceMaster.cpp.o
FAILED: external/Stamp/sitl_gazebo/sitl_gazebo-build
cd /home/gjx/PX4/PX4_Firmware/build/px4_sitl_default/build_gazebo && /usr/bin/cmake --build /home/gjx/PX4/PX4_Firmware/build/px4_sitl_default/build_gazebo -- -j2
[340/749] Building CXX object src/modu...dules__uORB.dir/uORBDeviceMaster.cpp.o
ninja: build stopped: subcommand failed.
make: *** [Makefile:219: px4_sitl_default] Error 1

Screenshot / Media

No response

Flight Log

make px4_sitl_default gazebo
-- PX4 version: v1.11.3
-- PX4 config file: /home/gjx/PX4/PX4_Firmware/boards/px4/sitl/default.cmake
-- PX4 config: px4_sitl_default
-- PX4 platform: posix
-- PX4 lockstep: enabled
-- cmake build type: RelWithDebInfo
-- The CXX compiler identification is GNU 9.4.0
-- The C compiler identification is GNU 9.4.0
-- The ASM compiler identification is GNU
-- Found assembler: /usr/bin/cc
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Building for code coverage
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3")
-- build type is RelWithDebInfo
-- PX4 ECL: Very lightweight Estimation & Control Library v1.9.0-rc1-404-g395c8d3
-- Configuring done
-- Generating done
-- Build files have been written to: /home/gjx/PX4/PX4_Firmware/build/px4_sitl_default
[0/749] git submodule src/drivers/gps/devices
[7/749] git submodule src/lib/ecl
[11/749] git submodule mavlink/include/mavlink/v2.0
[14/749] git submodule Tools/sitl_gazebo
[19/749] Performing configure step for 'sitl_gazebo'
-- install-prefix: /usr/local
-- cmake build type: RelWithDebInfo
-- The C compiler identification is GNU 9.4.0
-- The CXX compiler identification is GNU 9.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- 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: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Performing Test COMPILER_SUPPORTS_CXX17
-- Performing Test COMPILER_SUPPORTS_CXX17 - Success
-- Performing Test COMPILER_SUPPORTS_CXX14
-- Performing Test COMPILER_SUPPORTS_CXX14 - Success
-- Performing Test COMPILER_SUPPORTS_CXX11
-- Performing Test COMPILER_SUPPORTS_CXX11 - Success
-- Performing Test COMPILER_SUPPORTS_CXX0X
-- Performing Test COMPILER_SUPPORTS_CXX0X - Success
-- Using C++17 standard
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found suitable version "1.71.0", minimum required is "1.58") found components: system thread filesystem
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1")
-- Checking for module 'bullet>=2.82'
-- Found bullet, version 2.88
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found suitable version "1.71.0", minimum required is "1.40.0") found components: thread system filesystem program_options regex iostreams date_time
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found version "3.6.1")
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0")
-- 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;-lpthread (found suitable version "3.6.1", minimum required is "2.3.0")
-- Config-file not installed for ZeroMQ -- checking for pkg-config
-- Checking for module 'libzmq >= 4'
-- Found libzmq , version 4.3.2
-- Found ZeroMQ: TRUE (Required is at least version "4")
-- Checking for module 'uuid'
-- Found uuid, version 2.34.0
-- Found UUID: TRUE
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3")
-- Found OpenCV: /usr (found version "4.2.0")
-- Found TinyXML: /usr/lib/x86_64-linux-gnu/libtinyxml.so
-- Checking for module 'gstreamer-1.0 >= 1.0'
-- Found gstreamer-1.0 , version 1.16.3
-- Checking for module 'gstreamer-base-1.0 >= 1.0'
-- Found gstreamer-base-1.0 , version 1.16.3
-- Found GStreamer: GSTREAMER_INCLUDE_DIRS;GSTREAMER_LIBRARIES;GSTREAMER_VERSION;GSTREAMER_BASE_INCLUDE_DIRS;GSTREAMER_BASE_LIBRARIES (Required is at least version "1.0")
-- Checking for module 'OGRE'
-- Found OGRE, version 1.9.0
-- Building klt_feature_tracker without catkin
-- Building OpticalFlow with OpenCV
-- Found MAVLink: /home/gjx/PX4/PX4_Firmware/mavlink/include (found version "2.0")
-- catkin DISABLED
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found version "3.6.1")
-- Checking for module 'protobuf'
-- Found protobuf, version 3.6.1
-- Gazebo version: 9.12
-- Found GStreamer: adding gst_camera_plugin
-- Found GStreamer: adding gst_video_stream_widget
-- Configuring done
-- Generating done
-- Build files have been written to: /home/gjx/PX4/PX4_Firmware/build/px4_sitl_default/build_gazebo
[213/749] Performing build step for 'sitl_gazebo'
[2/109] Generating /home/gjx/PX4/PX4_F...ls/mb1240-xl-ez4/mb1240-xl-ez4-gen.sdf
/home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/mb1240-xl-ez4/mb1240-xl-ez4.sdf.jinja -> /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/mb1240-xl-ez4/mb1240-xl-ez4-gen.sdf
[4/109] Generating /home/gjx/PX4/PX4_F...ebo/models/cloudship/cloudship-gen.sdf
/home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/cloudship/cloudship.sdf.jinja -> /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/cloudship/cloudship-gen.sdf
[10/109] Generating /home/gjx/PX4/PX4_...models/3DR_gps_mag/3DR_gps_mag-gen.sdf
/home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/3DR_gps_mag/3DR_gps_mag.sdf.jinja -> /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/3DR_gps_mag/3DR_gps_mag-gen.sdf
[11/109] Generating /home/gjx/PX4/PX4_...gazebo/models/pixhawk/pixhawk-gen.sdf
/home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/pixhawk/pixhawk.sdf.jinja -> /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/pixhawk/pixhawk-gen.sdf
[12/109] Generating /home/gjx/PX4/PX4...s/sitl_gazebo/models/c920/c920-gen.sdf
/home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/c920/c920.sdf.jinja -> /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/c920/c920-gen.sdf
[13/109] Generating /home/gjx/PX4/PX4_...gazebo/models/px4flow/px4flow-gen.sdf
/home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/px4flow/px4flow.sdf.jinja -> /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/px4flow/px4flow-gen.sdf
[15/109] Generating /home/gjx/PX4/PX4...s/sitl_gazebo/models/r200/r200-gen.sdf
/home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/r200/r200.sdf.jinja -> /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/r200/r200-gen.sdf
[18/109] Generating /home/gjx/PX4/PX4_...models/matrice_100/matrice_100-gen.sdf
/home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/matrice_100/matrice_100.sdf.jinja -> /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/matrice_100/matrice_100-gen.sdf
[25/109] Generating /home/gjx/PX4/PX4_...Tools/sitl_gazebo/models/iris/iris.sdf
FAILED: /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/iris/iris.sdf
cd /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo && rm -f /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/iris/iris.sdf && /usr/bin/python3 /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/scripts/xacro.py -o /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/rotors_description/urdf/iris_base.urdf /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/rotors_description/urdf/iris_base.xacro enable_mavlink_interface:=true enable_ground_truth:=false enable_wind:=false enable_logging:=false rotors_description_dir:=/home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/rotors_description send_vision_estimation:=false send_odometry:=true && gz sdf -p /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/rotors_description/urdf/iris_base.urdf >> /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/iris/iris.sdf && rm -f /home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/models/rotors_description/urdf/iris_base.urdf
Traceback (most recent call last):
File "/home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/scripts/xacro.py", line 742, in
main()
File "/home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/scripts/xacro.py", line 727, in main
eval_self_contained(doc)
File "/home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/scripts/xacro.py", line 654, in eval_self_contained
eval_all(doc.documentElement, macros, symbols)
File "/home/gjx/PX4/PX4_Firmware/Tools/sitl_gazebo/scripts/xacro.py", line 537, in eval_all
raise XacroException(
main.XacroException: Invalid parameter "baro_drift_pa_per_sec" while expanding macro "xacro:barometer_plugin_macro"
[26/109] Building CXX object CMakeFiles/sensor_msgs.dir/Float.pb.cc.o
ninja: build stopped: subcommand failed.
[330/749] Building CXX object src/modu...dules__uORB.dir/uORBDeviceMaster.cpp.o
FAILED: external/Stamp/sitl_gazebo/sitl_gazebo-build
cd /home/gjx/PX4/PX4_Firmware/build/px4_sitl_default/build_gazebo && /usr/bin/cmake --build /home/gjx/PX4/PX4_Firmware/build/px4_sitl_default/build_gazebo -- -j2
[340/749] Building CXX object src/modu...dules__uORB.dir/uORBDeviceMaster.cpp.o
ninja: build stopped: subcommand failed.
make: *** [Makefile:219: px4_sitl_default] Error 1

Software Version

PX4 1.11.3

Flight controller

PX4 1.11.3

Vehicle type

None

How are the different components wired up (including port information)

No response

Additional context

No response