Can't change UAV-Type in Multi-UAV SITL Simulation

[tensarflow]

Describe the bug
Multi-UAV SITL Simulation with IRIS works fine. But I think there is a problem for the standard plane.

To Reproduce
Steps to reproduce the behavior:

1. Set up SITL with Gazebo Environment for multiple UAVs as described here .
2. Change
   <arg name="vehicle" default="iris"/>
   to
   <arg name="vehicle" default="plane"/>
   in multi_uav_mavros_sitl.launch.
3. Run roslaunch px4 multi_uav_mavros_sitl.launch.
4. See error

Expected behavior
I would like to have multiple fixed wing planes in my gezebo simulation

Log Files and Screenshots
This is the error I get:

ensasr@ensarspc:~/src/Firmware$ roslaunch px4 multi_uav_mavros_sitl.launch
... logging to /home/ensasr/.ros/log/26e55dba-9033-11e9-9301-5800e3df8d01/roslaunch-ensarspc-11643.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
No such file or directory: /home/ensasr/src/Firmware/Tools/sitl_gazebo/models/rotors_description/urdf/plane_base.xacro
RLException: while processing /home/ensasr/src/Firmware/launch/single_vehicle_spawn.launch:
Invalid <param> tag: Cannot load command parameter [rotors_description]: command [/opt/ros/melodic/lib/xacro/xacro /home/ensasr/src/Firmware/Tools/sitl_gazebo/models/rotors_description/urdf/plane_base.xacro rotors_description_dir:=/home/ensasr/src/Firmware/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=14560 mavlink_tcp_port:=4560 --inorder] returned with code [2]. 

Param xml is <param command="$(arg cmd)" name="rotors_description"/>
The traceback for the exception was written to the log file

And this is the log I get:

[roslaunch][INFO] 2019-06-16 14:34:58,215: Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
[roslaunch][INFO] 2019-06-16 14:34:58,221: Done checking log file disk usage. Usage is <1GB.
[roslaunch][INFO] 2019-06-16 14:34:58,221: roslaunch starting with args ['/opt/ros/melodic/bin/roslaunch', 'px4', 'multi_uav_mavros_sitl.launch']
[roslaunch][INFO] 2019-06-16 14:34:58,221: roslaunch env is {'LC_NUMERIC': 'en_US.UTF-8', 'ROS_DISTRO': 'melodic', '_LXSESSION_PID': '1151', 'ROS_LOG_FILENAME': '/home/ensasr/.ros/log/26e55dba-9033-11e9-9301-5800e3df8d01/roslaunch-ensarspc-11643.log', 'XDG_GREETER_DATA_DIR': '/var/lib/lightdm-data/ensasr', 'XDG_DATA_HOME': '/home/ensasr/.local/share', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'PKG_CONFIG_PATH': '/home/ensasr/catkin_ws/devel/lib/pkgconfig:/opt/ros/melodic/lib/pkgconfig', 'XDG_RUNTIME_DIR': '/run/user/1000', 'XDG_CURRENT_DESKTOP': 'LXDE', 'LC_PAPER': 'de_DE.UTF-8', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/ensasr/catkin_ws/devel/share/common-lisp', 'LOGNAME': 'ensasr', 'USER': 'ensasr', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-LXDE:/etc/xdg', 'PATH': '/opt/ros/melodic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'XDG_VTNR': '7', 'HOME': '/home/ensasr', 'CMAKE_PREFIX_PATH': '/home/ensasr/catkin_ws/devel:/opt/ros/melodic', 'DISPLAY': ':0.0', 'SSH_AGENT_PID': '1214', 'LANG': 'en_US.UTF-8', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'XDG_SESSION_PATH': '/org/freedesktop/DisplayManager/Session0', 'XAUTHORITY': '/home/ensasr/.Xauthority', 'LANGUAGE': 'en_US', 'LC_MEASUREMENT': 'de_DE.UTF-8', 'MANDATORY_PATH': '/usr/share/gconf/LXDE.mandatory.path', 'LD_LIBRARY_PATH': '/home/ensasr/catkin_ws/devel/lib:/opt/ros/melodic/lib:/home/ensasr/src/Firmware/build/px4_sitl_default/build_gazebo:/home/ensasr/src/Firmware/build/px4_sitl_default/build_gazebo:/home/ensasr/src/Firmware/build/px4_sitl_default/build_gazebo', 'QT_ACCESSIBILITY': '1', 'ROS_MASTER_URI': 'http://localhost:11311', 'GPG_AGENT_INFO': '/run/user/1000/gnupg/S.gpg-agent:0:1', 'ROS_PYTHON_VERSION': '2', 'XDG_CONFIG_HOME': '/home/ensasr/.config', 'SAL_USE_VCLPLUGIN': 'gtk', 'ROS_VERSION': '1', 'LC_ADDRESS': 'de_DE.UTF-8', 'PYTHONPATH': '/home/ensasr/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/melodic/lib/python2.7/dist-packages', 'SSH_AUTH_SOCK': '/tmp/ssh-Xca4AwDfuguz/agent.1151', 'SHLVL': '1', 'VTE_VERSION': '5202', 'ROS_ROOT': '/opt/ros/melodic/share/ros', 'GDMSESSION': 'LXDE', 'LC_TIME': 'de_DE.UTF-8', 'XDG_DATA_DIRS': '/usr/local/share:/usr/share:/usr/share/gdm:/var/lib/menu-xdg:/usr/local/share/:/usr/share/:/usr/share/gdm/:/var/lib/menu-xdg/', 'XDG_SEAT_PATH': '/org/freedesktop/DisplayManager/Seat0', 'ROS_PACKAGE_PATH': '/home/ensasr/catkin_ws/src/mavlink:/home/ensasr/catkin_ws/src/mavros/libmavconn:/home/ensasr/catkin_ws/src/mavros/mavros_msgs:/home/ensasr/catkin_ws/src/mavros/mavros:/home/ensasr/catkin_ws/src/mavros/mavros_extras:/home/ensasr/catkin_ws/src/pysdf:/home/ensasr/catkin_ws/src/mavros/test_mavros:/opt/ros/melodic/share:/home/ensasr/src/Firmware:/home/ensasr/src/Firmware/Tools/sitl_gazebo', 'GAZEBO_MODEL_PATH': ':/home/ensasr/src/Firmware/Tools/sitl_gazebo/models:/home/ensasr/src/Firmware/Tools/sitl_gazebo/models:/home/ensasr/src/Firmware/Tools/sitl_gazebo/models', 'XDG_SESSION_ID': 'c2', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1000/bus', '_': '/opt/ros/melodic/bin/roslaunch', 'GTK_MODULES': 'gail:atk-bridge', 'LC_IDENTIFICATION': 'de_DE.UTF-8', 'DESKTOP_SESSION': 'LXDE', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'DEFAULTS_PATH': '/usr/share/gconf/LXDE.default.path', 'XDG_SESSION_TYPE': 'x11', 'OLDPWD': '/home/ensasr/catkin_ws', 'GDM_LANG': 'en_US', 'LC_TELEPHONE': 'de_DE.UTF-8', 'GAZEBO_PLUGIN_PATH': ':/home/ensasr/src/Firmware/build/px4_sitl_default/build_gazebo:/home/ensasr/src/Firmware/build/px4_sitl_default/build_gazebo:/home/ensasr/src/Firmware/build/px4_sitl_default/build_gazebo', 'LC_MONETARY': 'de_DE.UTF-8', 'PWD': '/home/ensasr/src/Firmware', 'ROS_ETC_DIR': '/opt/ros/melodic/etc/ros', 'COLORTERM': 'truecolor', 'LC_NAME': 'de_DE.UTF-8', 'XDG_MENU_PREFIX': 'lxde-', 'XDG_SESSION_DESKTOP': 'LXDE', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.Z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'XDG_SEAT': 'seat0'}
[roslaunch][INFO] 2019-06-16 14:34:58,221: starting in server mode
[roslaunch.parent][INFO] 2019-06-16 14:34:58,221: starting roslaunch parent run
[roslaunch][INFO] 2019-06-16 14:34:58,221: loading roscore config file /opt/ros/melodic/etc/ros/roscore.xml
[roslaunch][INFO] 2019-06-16 14:34:58,615: Added core node of type [rosout/rosout] in namespace [/]
[roslaunch.config][INFO] 2019-06-16 14:34:58,616: loading config file /home/ensasr/src/Firmware/launch/multi_uav_mavros_sitl.launch
[roslaunch][INFO] 2019-06-16 14:34:58,653: Added node of type [gazebo_ros/gzserver] in namespace [/]
[roslaunch][INFO] 2019-06-16 14:34:58,654: Added node of type [gazebo_ros/gzclient] in namespace [/]
[roslaunch][ERROR] 2019-06-16 14:34:58,730: RLException: while processing /home/ensasr/src/Firmware/launch/single_vehicle_spawn.launch:
Invalid <param> tag: Cannot load command parameter [rotors_description]: command [/opt/ros/melodic/lib/xacro/xacro /home/ensasr/src/Firmware/Tools/sitl_gazebo/models/rotors_description/urdf/plane_base.xacro rotors_description_dir:=/home/ensasr/src/Firmware/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=14560 mavlink_tcp_port:=4560 --inorder] returned with code [2]. 

Param xml is <param command="$(arg cmd)" name="rotors_description"/>
[roslaunch][ERROR] 2019-06-16 14:34:58,730: The traceback for the exception was written to the log file
[roslaunch][ERROR] 2019-06-16 14:34:58,732: Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/__init__.py", line 322, in main
    p.start()
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/parent.py", line 277, in start
    self._start_infrastructure()
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/parent.py", line 226, in _start_infrastructure
    self._load_config()
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/parent.py", line 138, in _load_config
    roslaunch_strs=self.roslaunch_strs, verbose=self.verbose)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/config.py", line 459, in load_config_default
    raise RLException(e)
RLException: while processing /home/ensasr/src/Firmware/launch/single_vehicle_spawn.launch:
Invalid <param> tag: Cannot load command parameter [rotors_description]: command [/opt/ros/melodic/lib/xacro/xacro /home/ensasr/src/Firmware/Tools/sitl_gazebo/models/rotors_description/urdf/plane_base.xacro rotors_description_dir:=/home/ensasr/src/Firmware/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=14560 mavlink_tcp_port:=4560 --inorder] returned with code [2]. 

Param xml is <param command="$(arg cmd)" name="rotors_description"/>

[rospy.core][INFO] 2019-06-16 14:34:58,732: signal_shutdown [atexit]

Additional context
Obviously the problem is that there is no plane_base.xacro file. In fact there are no other xacro files other then for IRIS.
I tried to convert the SDF files to xacro but that didnt seem to be the right way because from my understanding xacro actually generates URDF and the nearest I could come was to convert the SDF file of the plane to URDF.
As far as I understand from this tutorial URDF files are getting out-dated. So it seems to me that the right way to solve this problem is to make the multi_uav_mavros_sitl.launch file for multiple UAVs SDF-compatible.
The posix_sitl.launch for single UAV's are super-compatible with the SDFs.

I tried to adjust posix_sitl.launch for the SDFs. Unfortunately I don't have much experience with these XML-things and then there are these weird references to other launch files and parameters and stuff. 😄 So it would be really great if someone with experience could handle this very quick. In the meantime I'm going to try to fix that too and maybe create a pull request if I think it works, since I don't have much to do after my fresh graduation hehe
Cheers!

[tensarflow]

Make the multi_uav_mavros_sitl.launch file for multiple UAVs SDF-compatible is harder then I thought..
But I'm starting to understand... The SDF files contain the UDP port binding information of the simulation. Since they need to be unique for each UAV you can't use the same SDF for multiple simulations. That's not good coding 😄
I'm thinking of just making multiple SDF files and trying to launch them from one launch file... Still on it :)

[lamping7]

This is not a firmware issue. It is integration related. You should post a topic on http://discuss.px4.io for help.