AttributeError in waypoint module when running sim_vehicle.py with Gazebo

[Haris-Alsaman]

Bug Report: AttributeError in waypoint module when using sim_vehicle.py with Gazebo

Describe the bug
When attempting to run sim_vehicle.py with the Gazebo model for APMrover2, the process fails, and MAVProxy exits unexpectedly. The error log indicates an AttributeError in the waypoint module.

To Reproduce
Steps to reproduce the behavior:

1. Run the following command:
   sim_vehicle.py -v APMrover2 -f gazebo-rover -m --mav10 --map --console -I1

Error Log
Build commands will be stored in build/sitl/compile_commands.json
'build' finished successfully (3.372s)
SIM_VEHICLE: Using defaults from (ardupilot/Tools/autotest/default_params/gazebo-zephyr.parm)
SIM_VEHICLE: Run ArduPlane
SIM_VEHICLE: "/home/haris/ardupilot/Tools/autotest/run_in_terminal_window.sh" "ArduPlane" "/home/haris/ardupilot/build/sitl/bin/arduplane" "-S" "--model" "gazebo-zephyr" "--speedup" "1" "--slave" "0" "--defaults" "ardupilot/Tools/autotest/default_params/gazebo-zephyr.parm" "--sim-address=127.0.0.1" "-I0"
SIM_VEHICLE: Run MavProxy
SIM_VEHICLE: "mavproxy.py" "--out" "127.0.0.1:14550" "--master" "tcp:127.0.0.1:5760" "--sitl" "127.0.0.1:5501" "--mav10" "--map" "--console"
RiTW: Starting ArduPlane : /home/haris/ardupilot/build/sitl/bin/arduplane -S --model gazebo-zephyr --speedup 1 --slave 0 --defaults ardupilot/Tools/autotest/default_params/gazebo-zephyr.parm --sim-address=127.0.0.1 -I0
Connect tcp:127.0.0.1:5760 source_system=255
waypoint module not available; use old compat modules
Traceback (most recent call last):
File "/home/haris/.local/bin/mavproxy.py", line 1466, in
mpstate.load_module(m, quiet=True)
File "/home/haris/.local/bin/mavproxy.py", line 374, in load_module
module = m.init(mpstate, **kwargs)
File "/home/haris/.local/lib/python3.10/site-packages/MAVProxy/modules/mavproxy_wp.py", line 576, in init
return WPModule(mpstate)
File "/home/haris/.local/lib/python3.10/site-packages/MAVProxy/modules/mavproxy_wp.py", line 19, in init
super(WPModule, self).init(mpstate, "wp", "waypoint handling", public=True)
File "/home/haris/.local/lib/python3.10/site-packages/MAVProxy/modules/lib/mission_item_protocol.py", line 35, in init
self.completions())
File "/home/haris/.local/lib/python3.10/site-packages/MAVProxy/modules/lib/mission_item_protocol.py", line 106, in completions
cs = self.commands()
File "/home/haris/.local/lib/python3.10/site-packages/MAVProxy/modules/mavproxy_wp.py", line 161, in commands
ret.update({
AttributeError: 'NoneType' object has no attribute 'update'
SIM_VEHICLE: MAVProxy exited
SIM_VEHICLE: Killing tasks

System Details:

• OS: Ubuntu 20.04
• Python Version: 3.10
• MAVProxy Version: 1.8.70

[SwiftGust]

Could you be able to run ArduPilot's own SITL for Rover without Gazebo?
Plus, it seems "APMRover2" is not the argument for run SITL in Ardupilot version you have, error states that its running ArduPlane SITL. It seems changed "ardurover" in the latest version.