Error: specified file /home/xxx/PX4_Firmware/Tools/sitl_gazebo/models/iris/iris_downward_depth_camera.sdf does not exist [vehicle_spawn_xxx_ThinkCentre_M720t_N000_2990_160880538261235094-5] process has died [pid 3045, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -sdf -file /home/xxx/PX4_Firmware/Tools/sitl_gazebo/models/iris/iris_downward_depth_camera.sdf -model iris -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0 __name:=vehicle_spawn_itr_ThinkCentre_M720t_N000_2990_160880538261235094 __log:=/home/itr/.ros/log/73946272-2c48-11ee-8db1-6c4b90faeaf9/vehicle_spawn_xxx_ThinkCentre_M720t_N000_2990_160880538261235094-5.log].
[vehicle_spawn_xxx_ThinkCentre_M720t_N000_2990_160880538261235094-5] process has died [pid 3045, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -sdf -file /home/xxx/PX4_Firmware/Tools/sitl_gazebo/models/iris/iris_downward_depth_camera.sdf -model iris -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0 __name:=vehicle_spawn_itr_ThinkCentre_M720t_N000_2990_160880538261235094 __log:=/home/itr/.ros/log/73946272-2c48-11ee-8db1-6c4b90faeaf9/vehicle_spawn_xxx_ThinkCentre_M720t_N000_2990_160880538261235094-5.log].
)
解决方案：iris_downward_depth_camera.sdf文件不在/home/xxx/PX4_Firmware/Tools/sitl_gazebo/models/iris路径下，而在/home/xxx/PX4_Firmware/Tools/sitl_gazebo/models/iris_downward_depth_camera路径下，把该路径下的iris_downward_depth_camera.sdf复制到/home/xxx/PX4_Firmware/Tools/sitl_gazebo/models/iris文件夹下即可。
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