docs(sim/px4-sitl): JDK 25 requirement + headless/Gazebo alternatives#40
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… Gazebo alternatives PX4 currently ships jmavsim_run.jar pre-built with Java 25 (class file version 69). On a fresh Homebrew-on-macOS setup with openjdk@17 on PATH the launcher dies with UnsupportedClassVersionError; nothing in the README pointed at the fix. Add: - A "JDK pitfall" subsection with the exact error message, root cause (class version 69 vs runtime ≤ 61), and the one-line fix (`export JAVA_HOME="$(/usr/libexec/java_home -v 25)"` + PATH). - Mention of the headless `make px4_sitl none_iris` (no Java, no 3D) and `make px4_sitl gz_x500` (Gazebo, no Java, also unlocks Path B from docs/SIMULATOR.md). Both bypass the JDK chase if you'd rather not. - Updated install table to reference `brew install --cask temurin` + the new JDK column. - Verified end-to-end on this Mac: with JAVA_HOME=v26 exported, `HEADLESS=1 make px4_sitl jmavsim` reaches "Ready for takeoff!" in ~13 s. The doc change matters because the bench-session offer in docs/SIMULATOR.md points readers here, and the silent JVM-version mismatch is the first thing they'll hit. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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running 9 tests test result: ok. 9 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.01s running 0 tests test result: ok. 0 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 9 tests test result: ok. 9 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 0 tests test result: ok. 0 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 9 tests test result: ok. 9 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.09s running 0 tests test result: ok. 0 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 9 tests test result: ok. 9 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.06s [falcon-hello-demo] building release binary... running 20 tests test result: ok. 20 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.02s running 0 tests test result: ok. 0 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 55 tests test result: ok. 55 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.03s running 0 tests test result: ok. 0 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 55 tests test result: ok. 55 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.03s running 0 tests test result: ok. 0 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 10 tests test result: ok. 10 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 10 tests test result: ok. 10 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.01s running 0 tests test result: ok. 0 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 10 tests test result: ok. 10 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 0 tests test result: ok. 0 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 10 tests test result: ok. 10 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.10s running 0 tests test result: ok. 0 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 6 tests test result: ok. 6 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s falcon-sitl-gz: backend=mock duration=5s running 6 tests test result: ok. 6 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 10 tests test result: ok. 10 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.01s running 0 tests test result: ok. 0 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 10 tests test result: ok. 10 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 0 tests test result: ok. 0 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 10 tests test result: ok. 10 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.11s running 0 tests test result: ok. 0 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 17 tests test result: ok. 17 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.08s --- scenario: attitude --- running 13 tests test result: ok. 13 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.01s running 0 tests test result: ok. 0 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 13 tests test result: ok. 13 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 0 tests test result: ok. 0 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 13 tests test result: ok. 13 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.12s running 0 tests test result: ok. 0 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 17 tests test result: ok. 17 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.08s --- scenario: mission --- running 1 test test result: ok. 1 passed; 0 failed; 0 ignored; 0 measured; 16 filtered out; finished in 0.05s running 16 tests test result: ok. 16 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.06s running 0 tests test result: ok. 0 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 16 tests test result: ok. 16 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.01s running 0 tests test result: ok. 0 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 16 tests test result: ok. 16 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.84s running 0 tests test result: ok. 0 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 5 tests test result: ok. 5 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s --- noise=0 (deterministic) --- running 17 tests test result: ok. 17 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.02s running 0 tests test result: ok. 0 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 55 tests test result: ok. 55 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.03s running 0 tests test result: ok. 0 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 10 tests test result: ok. 10 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 13 tests test result: ok. 13 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.04s running 0 tests test result: ok. 0 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 13 tests test result: ok. 13 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 0 tests test result: ok. 0 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 13 tests test result: ok. 13 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.64s running 0 tests test result: ok. 0 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 17 tests test result: ok. 17 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.08s --- scenario: step --- running 17 tests test result: ok. 17 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.02s running 0 tests test result: ok. 0 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.00s running 1 test test result: ok. 1 passed; 0 failed; 0 ignored; 0 measured; 16 filtered out; finished in 0.02s Filename Regions Missed Regions Cover Functions Missed Functions Executed Lines Missed Lines Cover Branches Missed Branches Covercoverage_subjects/geofence_subject_rs/src/lib.rs 48 48 0.00% 5 5 0.00% 23 23 0.00% 0 0 -
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| count | |
|---|---|
| Passed | 25 |
| Failed | 0 |
| Skipped (bench-only — needs hardware / sim) | 7 |
| Skipped (no steps) | 0 |
Bench-only artifacts (not run by CI)
FV-FALCON-SIM-001— PX4-SITL end-to-end loop — recipe + preset + smoke (v0.14.0)FV-FALCON-ARCH-001— spar AADL architectural model — falcon cascade (v0.13)FV-FALCON-GEO-003— Geofence safety path — miri UB/overflow check (v0.12, AI substitute)FV-FALCON-ARCH-002— spar codegen --format wit recheck — works at v0.10.0 (v0.15.0)FV-FALCON-COV-003— witness MC/DC on real Rust source — Geofence subject (v0.14.1)FV-FALCON-SIM-005— gz-transport NavSat + Home projection — position-dependent loops (v0.18.1)FV-FALCON-COV-001— witness MC/DC structural coverage — falcon pipeline wired (v0.13)
Source of truth: artifacts/verification/FV-FALCON-*.yaml.
1 participant
PX4's
jmavsim_run.jarships pre-built with Java 25 (class file version 69). On a fresh Homebrew-on-macOS setup withopenjdk@17on$PATH, the launcher dies with:```text
UnsupportedClassVersionError: me/drton/jmavsim/Simulator
has been compiled by a more recent version of the Java Runtime (class file version 69.0),
this version of the Java Runtime only recognizes class file versions up to 61.0
```
Nothing in
sim/px4-sitl/README.mdpointed at the fix. This PR adds:export JAVA_HOME=\"\$(/usr/libexec/java_home -v 25)\"+ PATH).make px4_sitl none_iristarget (no Java, no 3D) andmake px4_sitl gz_x500(Gazebo, no Java, also unlocks Path B indocs/SIMULATOR.md). Both bypass the JDK chase.brew install --cask temurinrow.Verified
On my Mac (Temurin 25 + 26 installed):
```bash
export JAVA_HOME="$(/usr/libexec/java_home -v 26)"
export PATH="$JAVA_HOME/bin:$PATH"
HEADLESS=1 make px4_sitl jmavsim
→ 'INFO [commander] Ready for takeoff!' in ~13 s
```
The doc fix matters because
docs/SIMULATOR.mdpoints readers atsim/px4-sitl/README.mdfor the bench setup, and the silent JVM-version mismatch is the first thing they hit.🤖 Generated with Claude Code