Demo does not work (image steaming crash, controller does not react to keyboard

[coolvision]

Trying to launch the base demo.

1. Launching RealGazebo:

sk:~/RealGazebo-ROS2/scripts$ ./run_realgazebo.sh ../src/realgazebo/yaml/one_drone.yaml 127.0.0.1
access control disabled, clients can connect from any host
Unreal IP: 127.0.0.1
nvidia-docker not installed. Running without GPU support.
realgazebo
realgazebo
9b543c5d73750adec8c8a470966366d4361c34a8d156ba73affb8d8ad6c3427e
Successfully copied 2.56kB to realgazebo:/home/user/
[INFO] [launch]: All log files can be found below /home/user/.ros/log/2026-03-31-08-43-06-582855-blanc-13
[INFO] [launch]: Default logging verbosity is set to INFO
c-track.sdf is generated
x500.sdf is generated
x500_lidar_2d.sdf is generated
rover_ackermann.sdf is generated
lc_62.sdf is generated
boat.sdf is generated
rock.sdf is generated
[INFO] [MicroXRCEAgent-1]: process started with pid [61]
[INFO] [gazebo-2]: process started with pid [62]
[INFO] [gz_ready_check-3]: process started with pid [63]
[INFO] [parameter_bridge-4]: process started with pid [64]
[parameter_bridge-4] [INFO] [1774946587.942250308] [gz_bridge]: Creating GZ->ROS Bridge: [/clock (gz.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
[gz_ready_check-3] system {
[INFO] [gz_ready_check-3]: process has finished cleanly [pid 63]
[INFO] [create-5]: process started with pid [123]
[create-5] [INFO] [1774946620.906787954] [ros_gz_sim]: Entity creation successful.
[gazebo-2] Warning [Utils.cc:132] [/sdf/model[@name="x500_base"]/link[@name="base_link"]/sensor[@name="air_pressure_sensor"]/gz_frame_id:/home/user/realgazebo/RealGazebo-PX4/Tools/simulation/gz/models/x500_base/model.sdf:L219]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor].
[gazebo-2] Warning [Utils.cc:132] [/sdf/model[@name="x500_base"]/link[@name="base_link"]/sensor[@name="magnetometer_sensor"]/gz_frame_id:/home/user/realgazebo/RealGazebo-PX4/Tools/simulation/gz/models/x500_base/model.sdf:L233]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor].
[gazebo-2] Warning [Utils.cc:132] [/sdf/model[@name="x500_base"]/link[@name="base_link"]/sensor[@name="imu_sensor"]/gz_frame_id:/home/user/realgazebo/RealGazebo-PX4/Tools/simulation/gz/models/x500_base/model.sdf:L259]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor].
[gazebo-2] Warning [Utils.cc:132] [/sdf/model[@name="x500_base"]/link[@name="base_link"]/sensor[@name="navsat_sensor"]/gz_frame_id:/home/user/realgazebo/RealGazebo-PX4/Tools/simulation/gz/models/x500_base/model.sdf:L311]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor].
[INFO] [create-5]: process has finished cleanly [pid 123]
[INFO] [px4-6]: process started with pid [169]
[INFO] [image_receiver_node-7]: process started with pid [271]
[INFO] [image_receiver_node-8]: process started with pid [365]
[INFO] [px4-param-9]: process started with pid [395]
[INFO] [px4-param-9]: process has finished cleanly [pid 395]
[INFO] [px4-param-10]: process started with pid [397]
[INFO] [px4-param-10]: process has finished cleanly [pid 397]
[INFO] [px4-param-11]: process started with pid [399]
[INFO] [px4-param-11]: process has finished cleanly [pid 399]
[gazebo-2] Warning [Utils.cc:132] [/sdf/model[@name="x500_base"]/link[@name="base_link"]/sensor[@name="air_pressure_sensor"]/gz_frame_id:/home/user/realgazebo/RealGazebo-PX4/Tools/simulation/gz/models/x500_base/model.sdf:L219]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor].
[gazebo-2] Warning [Utils.cc:132] [/sdf/model[@name="x500_base"]/link[@name="base_link"]/sensor[@name="magnetometer_sensor"]/gz_frame_id:/home/user/realgazebo/RealGazebo-PX4/Tools/simulation/gz/models/x500_base/model.sdf:L233]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor].
[gazebo-2] Warning [Utils.cc:132] [/sdf/model[@name="x500_base"]/link[@name="base_link"]/sensor[@name="imu_sensor"]/gz_frame_id:/home/user/realgazebo/RealGazebo-PX4/Tools/simulation/gz/models/x500_base/model.sdf:L259]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor].
[gazebo-2] Warning [Utils.cc:132] [/sdf/model[@name="x500_base"]/link[@name="base_link"]/sensor[@name="navsat_sensor"]/gz_frame_id:/home/user/realgazebo/RealGazebo-PX4/Tools/simulation/gz/models/x500_base/model.sdf:L311]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor].
[image_receiver_node-7] [INFO] [1774946648.372617801] [image_receiver_x500_0_front]: Configured: RTSP=rtsp://127.0.0.1:8554/x500_0/front  topic=/vehicle1/camera/front/image_raw
[image_receiver_node-7] [INFO] [1774946648.377089175] [image_receiver_x500_0_front]: Activated: waiting for subscribers on /vehicle1/camera/front/image_raw
[image_receiver_node-7] [INFO] [1774946648.877226657] [image_receiver_x500_0_front]: Subscriber detected, reconnecting to rtsp://127.0.0.1:8554/x500_0/front
[image_receiver_node-7] [ WARN:0@29.337] global ./modules/videoio/src/cap_gstreamer.cpp (2401) handleMessage OpenCV | GStreamer warning: Embedded video playback halted; module rtspsrc0 reported: Could not read from resource.
[image_receiver_node-7] [ WARN:0@29.338] global ./modules/videoio/src/cap_gstreamer.cpp (1356) open OpenCV | GStreamer warning: unable to start pipeline
[image_receiver_node-7] [ WARN:0@29.338] global ./modules/videoio/src/cap_gstreamer.cpp (862) isPipelinePlaying OpenCV | GStreamer warning: GStreamer: pipeline have not been created
[image_receiver_node-7] [WARN] [1774946651.117835298] [image_receiver_x500_0_front]: Reconnect failed, retrying...

2. Launching unreal:

sk:~/Linux_RealGazebo_CTrack$ ./RealGazebo_CTrack.sh 
5.1.1-0+++UE5+Release-5.1 1008 0
Disabling core dumps.

3. When launching control script, it does not react to keyboard:

sk:~/RealGazebo-ROS2/scripts$ ./run_control_one_drone.sh
[INFO] [launch]: All log files can be found below /home/user/.ros/log/2026-03-31-08-34-49-520845-blanc-1571
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [drone_controller-1]: process started with pid [1594]
[drone_controller-1] [INFO] [1774946089.983962199] [drone_controller]: Configure drone_controller 1
[drone_controller-1] [INFO] [1774946090.340377777] [drone_controller]: Mode : NAVIGATION_STATE_MANUAL (DISARM)
[drone_controller-1] [INFO] [1774946090.340748696] [drone_controller]: Vehicle local_position(ned) : (26.11, -99.63, -1.11)
[drone_controller-1] [INFO] [1774946090.341071204] [drone_controller]: last command : idle
[drone_controller-1] [INFO] [1774946090.343952343] [drone_controller]: Mode : NAVIGATION_STATE_MANUAL (DISARM)
[drone_controller-1] [INFO] [1774946090.344295391] [drone_controller]: Vehicle local_position(ned) : (26.11, -99.63, -1.11)
[drone_controller-1] [INFO] [1774946090.344622960] [drone_controller]: last command : idle
[drone_controller-1] [INFO] [1774946090.364742468] [drone_controller]: Mode : NAVIGATION_STATE_MANUAL (DISARM)
[drone_controller-1] [INFO] [1774946090.365080147] [drone_controller]: Vehicle local_position(ned) : (26.11, -99.63, -1.11)
[drone_controller-1] [INFO] [1774946090.365402085] [drone_controller]: last command : idle
[drone_controller-1] [INFO] [1774946090.465230749] [drone_controller]: Mode : NAVIGATION_STATE_MANUAL (DISARM)
[drone_controller-1] [INFO] [1774946090.465680607] [drone_controller]: Vehicle local_position(ned) : (26.11, -99.63, -1.11)

4. After launching image streamer, Unreal crashes:

sk:~/RealGazebo-ROS2/scripts$ ./run_image_stream.sh
[INFO] [1774944970.316267384] [image_viewer]: Configure ImageViewer x500_0 camera=front
[INFO] [1774944972.325429849] [image_viewer]: image_receiver current state id: 1

sk:~/Linux_RealGazebo_CTrack$ ./RealGazebo_CTrack.sh 
5.1.1-0+++UE5+Release-5.1 1008 0
Disabling core dumps.
Signal 11 caught.
Malloc Size=262146 LargeMemoryPoolOffset=262162 
CommonUnixCrashHandler: Signal=11
Failed to find symbol file, expected location:
"/home/sk/Linux_RealGazebo_CTrack/RealGazebo_CTrack/Binaries/Linux/RealGazebo_CTrack-Linux-Shipping.sym"
Malloc Size=131160 LargeMemoryPoolOffset=393352 
Malloc Size=131160 LargeMemoryPoolOffset=524536 
Engine crash handling finished; re-raising signal 11 for the default handler. Good bye.
Segmentation fault (core dumped)
```