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Drone Gymkhana Exercise

Hello all,

I tried to run the launch file for drone_gymkhana.launch .

And I got the following error:

[ INFO] [1601271801.797505364]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting…
[gazebo-2] process has died [pid 11461, exit code 255, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode /home/kalash/ws_robot/src/Academy/exercises/drone_gymkhana/drone_gymkhana.world __name:=gazebo __log:=/home/kalash/.ros/log/c933c3f0-014c-11eb-b581-f8da0c195d51/gazebo-2.log].
log file: /home/kalash/.ros/log/c933c3f0-014c-11eb-b581-f8da0c195d51/gazebo-2*.log
INFO [dataman] Unknown restart, data manager file ‘./dataman’ size is 11798680 bytes
INFO [simulator] Waiting for simulator to accept connection on TCP port 4560
[INFO] [1601271802.147640, 0.000000]: Loading model XML from file /opt/ros/melodic/share/jderobot_assets/models/iris_dual_cam/iris_dual_cam.sdf
[INFO] [1601271802.295618, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
^C[my_solution-8] killing on exit
[rqt_gui-7] killing on exit
[mavros-5] killing on exit
[vehicle_spawn_kalash_Laptop_11431_9077220069961245585-4] killing on exit
[gazebo_gui-3] killing on exit
[sitl-1] killing on exit
ERROR [px4] Startup script returned with return value: 2
Traceback (most recent call last):
File “/opt/ros/melodic/lib/gazebo_ros/spawn_model”, line 239, in
exit_code = sm.run()
File “/opt/ros/melodic/lib/gazebo_ros/spawn_model”, line 189, in run
self.args.gazebo_namespace)
File “/opt/ros/melodic/lib/python2.7/dist-packages/gazebo_ros/gazebo_interface.py”, line 16, in spawn_sdf_model_client
rospy.wait_for_service(gazebo_namespace+’/spawn_sdf_model’)
File “/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py”, line 166, in wait_for_service
raise ROSInterruptException(“rospy shutdown”)
rospy.exceptions.ROSInterruptException: rospy shutdown
[gazebo_gui-3] escalating to SIGTERM

Can please someone help me rectify the error.

I am using ros melodic with gazebo 9

1 Like

Hello all,
This is the output of launch file after following the installation steps defined :slight_smile:

kalash@kalash-Laptop:~/catkin_ws/src/Academy/exercises/drone_gymkhana$ roslaunch drone_gymkhana.launch
… logging to /home/kalash/.ros/log/a6f4370a-03a1-11eb-b8e9-f8da0c195d51/roslaunch-kalash-Laptop-3537.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://localhost:39945/

SUMMARY

CLEAR PARAMETERS

  • /mavros/

PARAMETERS

  • /gazebo/enable_ros_network: True
  • /mavros/cmd/use_comp_id_system_control: False
  • /mavros/conn/heartbeat_rate: 1.0
  • /mavros/conn/system_time_rate: 1.0
  • /mavros/conn/timeout: 10.0
  • /mavros/conn/timesync_rate: 10.0
  • /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
  • /mavros/distance_sensor/hrlv_ez4_pub/id: 0
  • /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
  • /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
  • /mavros/distance_sensor/laser_1_sub/id: 3
  • /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
  • /mavros/distance_sensor/laser_1_sub/subscriber: True
  • /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
  • /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
  • /mavros/distance_sensor/lidarlite_pub/id: 1
  • /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
  • /mavros/distance_sensor/lidarlite_pub/send_tf: True
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
  • /mavros/distance_sensor/sonar_1_sub/id: 2
  • /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
  • /mavros/distance_sensor/sonar_1_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/listen: False
  • /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_protocol: v2.0
  • /mavros/fcu_url: udp://:14540@loca…
  • /mavros/gcs_url:
  • /mavros/global_position/child_frame_id: base_link
  • /mavros/global_position/frame_id: map
  • /mavros/global_position/gps_uere: 1.0
  • /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: 0.0003490659 // 0…
  • /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/landing_target/camera/fov_x: 2.0071286398
  • /mavros/landing_target/camera/fov_y: 2.0071286398
  • /mavros/landing_target/image/height: 480
  • /mavros/landing_target/image/width: 640
  • /mavros/landing_target/land_target_type: VISION_FIDUCIAL
  • /mavros/landing_target/listen_lt: False
  • /mavros/landing_target/mav_frame: LOCAL_NED
  • /mavros/landing_target/target_size/x: 0.3
  • /mavros/landing_target/target_size/y: 0.3
  • /mavros/landing_target/tf/child_frame_id: camera_center
  • /mavros/landing_target/tf/frame_id: landing_target
  • /mavros/landing_target/tf/listen: False
  • /mavros/landing_target/tf/rate_limit: 10.0
  • /mavros/landing_target/tf/send: True
  • /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/mission/use_mission_item_int: True
  • /mavros/mocap/use_pose: True
  • /mavros/mocap/use_tf: False
  • /mavros/odometry/fcu/odom_child_id_des: base_link
  • /mavros/odometry/fcu/odom_parent_id_des: map
  • /mavros/plugin_blacklist: [‘safety_area’, '…
  • /mavros/plugin_whitelist: []
  • /mavros/px4flow/frame_id: px4flow
  • /mavros/px4flow/ranger_fov: 0.118682
  • /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/mav_frame: LOCAL_NED
  • /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/setpoint_raw/thrust_scaling: 1.0
  • /mavros/setpoint_velocity/mav_frame: LOCAL_NED
  • /mavros/startup_px4_usb_quirk: True
  • /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: MAVLINK
  • /mavros/vibration/frame_id: base_link
  • /mavros/vision_pose/tf/child_frame_id: vision_estimate
  • /mavros/vision_pose/tf/frame_id: odom
  • /mavros/vision_pose/tf/listen: False
  • /mavros/vision_pose/tf/rate_limit: 10.0
  • /mavros/vision_speed/listen_twist: True
  • /mavros/vision_speed/twist_cov: True
  • /mavros/wheel_odometry/child_frame_id: base_link
  • /mavros/wheel_odometry/count: 2
  • /mavros/wheel_odometry/frame_id: odom
  • /mavros/wheel_odometry/send_raw: True
  • /mavros/wheel_odometry/send_twist: False
  • /mavros/wheel_odometry/tf/child_frame_id: base_link
  • /mavros/wheel_odometry/tf/frame_id: odom
  • /mavros/wheel_odometry/tf/send: False
  • /mavros/wheel_odometry/use_rpm: False
  • /mavros/wheel_odometry/vel_error: 0.1
  • /mavros/wheel_odometry/wheel0/radius: 0.05
  • /mavros/wheel_odometry/wheel0/x: 0.0
  • /mavros/wheel_odometry/wheel0/y: -0.15
  • /mavros/wheel_odometry/wheel1/radius: 0.05
  • /mavros/wheel_odometry/wheel1/x: 0.0
  • /mavros/wheel_odometry/wheel1/y: 0.15
  • /rosdistro: melodic
  • /rosversion: 1.14.9
  • /use_sim_time: True

NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
mavros (mavros/mavros_node)
my_params (drone_wrapper/load_parameters)
my_solution (drone_wrapper/play_python_code)
rqt_gui (rqt_gui/rqt_gui)
sitl (px4/px4)
vehicle_spawn_kalash_Laptop_3537_5694112990841411602 (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [3548]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to a6f4370a-03a1-11eb-b8e9-f8da0c195d51
process[rosout-1]: started with pid [3559]
started core service [/rosout]
process[sitl-2]: started with pid [3580]
INFO [px4] Creating symlink /home/kalash/catkin_ws/src/Firmware/build/px4_sitl_default/etc -> /home/kalash/.ros/etc


| ___ \ \ \ / / / |
| |/ / \ V / / /| |
| __/ / \ / /
| |
| | / /^\ \ ___ |
_| / / |_/

px4 starting.

INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
Info: found model autostart file as SYS_AUTOSTART=10016
INFO [param] selected parameter default file eeprom/parameters_10016
[param] parameter file not found, creating eeprom/parameters_10016
SYS_AUTOCONFIG: curr: 0 -> new: 1
SYS_AUTOSTART: curr: 0 -> new: 10016
BAT_N_CELLS: curr: 0 -> new: 4
CAL_ACC0_ID: curr: 0 -> new: 1311244
CAL_ACC1_ID: curr: 0 -> new: 1311500
CAL_GYRO0_ID: curr: 0 -> new: 1311244
CAL_GYRO1_ID: curr: 0 -> new: 1311500
CAL_MAG0_ID: curr: 0 -> new: 197388
CAL_MAG1_ID: curr: 0 -> new: 197644
CBRK_SUPPLY_CHK: curr: 0 -> new: 894281
COM_RC_IN_MODE: curr: 0 -> new: 1
EKF2_ANGERR_INIT: curr: 0.1000 -> new: 0.0100
EKF2_GBIAS_INIT: curr: 0.1000 -> new: 0.0100
COM_ARM_EKF_AB: curr: 0.0022 -> new: 0.0050
EKF2_REQ_GPS_H: curr: 10.0000 -> new: 0.5000
MC_PITCH_P: curr: 6.5000 -> new: 6.0000
MC_PITCHRATE_P: curr: 0.1500 -> new: 0.2000
MC_ROLL_P: curr: 6.5000 -> new: 6.0000
MC_ROLLRATE_P: curr: 0.1500 -> new: 0.2000
MPC_Z_VEL_P_ACC: curr: 4.0000 -> new: 12.0000
process[gazebo-3]: started with pid [3601]
MPC_Z_VEL_I_ACC: curr: 2.0000 -> new: 3.0000
MPC_XY_P: curr: 0.9500 -> new: 0.8000
MPC_XY_VEL_P_ACC: curr: 1.8000 -> new: 4.0000
MPC_XY_VEL_D_ACC: curr: 0.2000 -> new: 0.3200
RTL_RETURN_ALT: curr: 60.0000 -> new: 30.0000
SDLOG_MODE: curr: 0 -> new: 1
SDLOG_PROFILE: curr: 1 -> new: 131
SDLOG_DIRS_MAX: curr: 0 -> new: 7
SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
TRIG_INTERFACE: curr: 4 -> new: 3
COM_CPU_MAX: curr: 90.0000 -> new: -1.0000
IMU_INTEG_RATE: curr: 200 -> new: 250
process[gazebo_gui-4]: started with pid [3662]
process[vehicle_spawn_kalash_Laptop_3537_5694112990841411602-5]: started with pid [3700]
NAV_ACC_RAD: curr: 10.0000 -> new: 2.0000
RTL_DESCEND_ALT: curr: 30.0000 -> new: 10.0000
RTL_LAND_DELAY: curr: -1.0000 -> new: 0.0000
PWM_MAX: curr: 2000 -> new: 1950
PWM_MIN: curr: 1000 -> new: 1075
GPS_UBX_DYNMODEL: curr: 7 -> new: 6

  • SYS_AUTOCONFIG: curr: 1 -> new: 0
    process[mavros-6]: started with pid [3719]
    ERROR: cannot launch node of type [drone_wrapper/load_parameters]: Cannot locate node of type [load_parameters] in package [drone_wrapper]. Make sure file exists in package path and permission is set to executable (chmod +x)
    process[rqt_gui-8]: started with pid [3734]
    process[my_solution-9]: started with pid [3735]
    INFO [dataman] Unknown restart, data manager file ‘./dataman’ size is 11798680 bytes
    INFO [simulator] Waiting for simulator to accept connection on TCP port 4560
    [ INFO] [1601527883.601871910]: FCU URL: udp://:14540@localhost:14557
    [ INFO] [1601527883.604203881]: udp0: Bind address: 0.0.0.0:14540
    [ INFO] [1601527883.604324608]: udp0: Remote address: 127.0.0.1:14557
    [ INFO] [1601527883.604463595]: GCS bridge disabled
    [ INFO] [1601527884.280367829]: Plugin 3dr_radio loaded
    [ INFO] [1601527884.284371013]: Plugin 3dr_radio initialized
    [ INFO] [1601527884.284653525]: Plugin actuator_control loaded
    [ INFO] [1601527884.292295934]: Plugin actuator_control initialized
    [ INFO] [1601527884.605786257]: Plugin adsb loaded
    [ INFO] [1601527884.608548487]: Plugin adsb initialized
    [ INFO] [1601527884.608657126]: Plugin altitude loaded
    [ INFO] [1601527884.609461783]: Plugin altitude initialized
    [ INFO] [1601527884.609561250]: Plugin cam_imu_sync loaded
    [ INFO] [1601527884.610118346]: Plugin cam_imu_sync initialized
    [ INFO] [1601527884.610208980]: Plugin command loaded
    [ INFO] [1601527884.615022179]: Plugin command initialized
    [ INFO] [1601527884.615153801]: Plugin companion_process_status loaded
    [ INFO] [1601527884.617864293]: Plugin companion_process_status initialized
    [ INFO] [1601527884.617991515]: Plugin debug_value loaded
    [ INFO] [1601527884.622734983]: Plugin debug_value initialized
    [ INFO] [1601527884.622775061]: Plugin distance_sensor blacklisted
    [ INFO] [1601527884.622877178]: Plugin esc_status loaded
    [ INFO] [1601527884.623947323]: Plugin esc_status initialized
    [ INFO] [1601527884.624081496]: Plugin fake_gps loaded
    [ INFO] [1601527884.636872496]: Plugin fake_gps initialized
    [ INFO] [1601527884.637023256]: Plugin ftp loaded
    [ INFO] [1601527884.641691857]: Plugin ftp initialized
    [ INFO] [1601527884.641806594]: Plugin global_position loaded
    [ INFO] [1601527884.653503008]: Plugin global_position initialized
    [ INFO] [1601527884.653643800]: Plugin gps_rtk loaded
    [ INFO] [1601527884.656014035]: Plugin gps_rtk initialized
    [ INFO] [1601527884.656154600]: Plugin gps_status loaded
    [ INFO] [1601527884.658079464]: Plugin gps_status initialized
    [ INFO] [1601527884.658213263]: Plugin hil loaded
    [ INFO] [1601527884.668695480]: Plugin hil initialized
    [ INFO] [1601527884.668860659]: Plugin home_position loaded
    [ INFO] [1601527884.671567201]: Plugin home_position initialized
    [ INFO] [1601527884.671692836]: Plugin imu loaded
    [ INFO] [1601527884.677968284]: Plugin imu initialized
    [ INFO] [1601527884.678112619]: Plugin landing_target loaded
    [ INFO] [1601527884.689837669]: Plugin landing_target initialized
    [ INFO] [1601527884.689994070]: Plugin local_position loaded
    [ INFO] [1601527884.696710299]: Plugin local_position initialized
    [ INFO] [1601527884.696878430]: Plugin log_transfer loaded
    [ INFO] [1601527884.700205496]: Plugin log_transfer initialized
    [ INFO] [1601527884.700367386]: Plugin manual_control loaded
    [ INFO] [1601527884.702648573]: Plugin manual_control initialized
    [ INFO] [1601527884.702757702]: Plugin mocap_pose_estimate loaded
    [ INFO] [1601527884.705117174]: Plugin mocap_pose_estimate initialized
    [ INFO] [1601527884.705214289]: Plugin mount_control loaded
    [ INFO] [1601527884.707560667]: Plugin mount_control initialized
    [ INFO] [1601527884.707663929]: Plugin obstacle_distance loaded
    [ INFO] [1601527884.709455010]: Plugin obstacle_distance initialized
    [ INFO] [1601527884.709567470]: Plugin odom loaded
    [ INFO] [1601527884.712377861]: Plugin odom initialized
    [ INFO] [1601527884.712480886]: Plugin onboard_computer_status loaded
    [ INFO] [1601527884.714001656]: Plugin onboard_computer_status initialized
    [ INFO] [1601527884.714140642]: Plugin param loaded
    [ INFO] [1601527884.715907621]: Plugin param initialized
    [ INFO] [1601527884.716020085]: Plugin px4flow loaded
    [ INFO] [1601527884.720253452]: Plugin px4flow initialized
    [ INFO] [1601527884.720294423]: Plugin rangefinder blacklisted
    [ INFO] [1601527884.720429774]: Plugin rc_io loaded
    [ INFO] [1601527884.722697545]: Plugin rc_io initialized
    [ INFO] [1601527884.722733996]: Plugin safety_area blacklisted
    [ INFO] [1601527884.722843107]: Plugin setpoint_accel loaded
    [ INFO] [1601527884.725355837]: Plugin setpoint_accel initialized
    [ INFO] [1601527884.725593654]: Plugin setpoint_attitude loaded
    [ INFO] [1601527884.750104418]: Plugin setpoint_attitude initialized
    [ INFO] [1601527884.750222813]: Plugin setpoint_position loaded
    [ INFO] [1601527884.762114808]: Plugin setpoint_position initialized
    [ INFO] [1601527884.762289100]: Plugin setpoint_raw loaded
    [ INFO] [1601527884.768229091]: Plugin setpoint_raw initialized
    [ INFO] [1601527884.768337789]: Plugin setpoint_trajectory loaded
    [ INFO] [1601527884.771248522]: Plugin setpoint_trajectory initialized
    [ INFO] [1601527884.771406539]: Plugin setpoint_velocity loaded
    [ INFO] [1601527884.774834925]: Plugin setpoint_velocity initialized
    [ INFO] [1601527884.774958120]: Plugin sys_status loaded
    [ INFO] [1601527884.781269941]: Plugin sys_status initialized
    [ INFO] [1601527884.781397248]: Plugin sys_time loaded
    [ INFO] [1601527884.784846724]: TM: Timesync mode: MAVLINK
    [ INFO] [1601527884.785736900]: Plugin sys_time initialized
    [ INFO] [1601527884.785854538]: Plugin trajectory loaded
    [ INFO] [1601527884.790347087]: Plugin trajectory initialized
    [ INFO] [1601527884.790457749]: Plugin vfr_hud loaded
    [ INFO] [1601527884.790966959]: Plugin vfr_hud initialized
    [ INFO] [1601527884.791003712]: Plugin vibration blacklisted
    [ INFO] [1601527884.791069695]: Plugin vision_pose_estimate loaded
    [ INFO] [1601527884.795744140]: Plugin vision_pose_estimate initialized
    [ INFO] [1601527884.795848122]: Plugin vision_speed_estimate loaded
    [ INFO] [1601527884.798891612]: Plugin vision_speed_estimate initialized
    [ INFO] [1601527884.799017740]: Plugin waypoint loaded
    [ INFO] [1601527884.842419521]: Plugin waypoint initialized
    [ INFO] [1601527884.842466973]: Plugin wheel_odometry blacklisted
    [ INFO] [1601527884.842588346]: Plugin wind_estimation loaded
    [ INFO] [1601527884.843075505]: Plugin wind_estimation initialized
    [ INFO] [1601527884.843123873]: Autostarting mavlink via USB on PX4
    [ INFO] [1601527884.843174224]: Built-in SIMD instructions: SSE, SSE2
    [ INFO] [1601527884.843205470]: Built-in MAVLink package version: 2020.8.8
    [ INFO] [1601527884.843239562]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
    [ INFO] [1601527884.843261797]: MAVROS started. MY ID 1.240, TARGET ID 1.1
    [ INFO] [1601527892.201189135]: Finished loading Gazebo ROS API Plugin.
    [ INFO] [1601527892.202758456]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting…
    [ INFO] [1601527892.252985392]: Finished loading Gazebo ROS API Plugin.
    [ INFO] [1601527892.254321474]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting…
    PluginManager.load_plugin() could not load plugin “rqt_drone_teleop/VelTeleop”: plugin not available
    [INFO] [1601527894.179194, 0.000000]: Loading model XML from file /opt/ros/melodic/share/jderobot_assets/models/iris_dual_cam/iris_dual_cam.sdf
    [INFO] [1601527894.220010, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
    [ INFO] [1601527894.410035592]: waitForService: Service [/gazebo/set_physics_properties] is now available.
    [ INFO] [1601527894.439292812]: Physics dynamic reconfigure ready.
    [INFO] [1601527894.523802, 0.084000]: Calling service /gazebo/spawn_sdf_model
    [ INFO] [1601527895.266676603, 0.104000000]: Camera Plugin: The ‘robotNamespace’ param was empty
    [ INFO] [1601527895.269460201, 0.104000000]: Camera Plugin: The ‘robotNamespace’ param was empty
    [INFO] [1601527895.271769, 0.104000]: Spawn status: SpawnModel: Successfully spawned entity
    [ INFO] [1601527895.432089418, 0.104000000]: Camera Plugin (ns = iris) <tf_prefix
    >, set to “iris”
    [ INFO] [1601527895.437388466, 0.104000000]: Camera Plugin (ns = iris) <tf_prefix_>, set to “iris”
    [vehicle_spawn_kalash_Laptop_3537_5694112990841411602-5] process has finished cleanly
    log file: /home/kalash/.ros/log/a6f4370a-03a1-11eb-b8e9-f8da0c195d51/vehicle_spawn_kalash_Laptop_3537_5694112990841411602-5*.log
    Segmentation fault (core dumped)
    [gazebo-3] process has died [pid 3601, exit code 139, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode /home/kalash/catkin_ws/src/Academy/exercises/drone_gymkhana/drone_gymkhana.world __name:=gazebo __log:=/home/kalash/.ros/log/a6f4370a-03a1-11eb-b8e9-f8da0c195d51/gazebo-3.log].
    log file: /home/kalash/.ros/log/a6f4370a-03a1-11eb-b8e9-f8da0c195d51/gazebo-3*.log
    ^C[my_solution-9] killing on exit
    [rqt_gui-8] killing on exit
    [mavros-6] killing on exit
    [gazebo_gui-4] killing on exit
    [sitl-2] killing on exit
    ERROR [px4] Startup script returned with return value: 2
    ^C[gazebo_gui-4] escalating to SIGTERM
    [rosout-1] killing on exit
    [master] killing on exit
    shutting down processing monitor…
    … shutting down processing monitor complete
    done

I will be very thankful if some one can help me rectify the problem.