瓜大無人船踩坑記3
阿新 • • 發佈：2020-12-09
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裝置準備
- 手柄
- 電池（2塊）
- 電臺及天線
- 電臺電池（12V）
- 網線1根
- 計算機
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設定計算機網路
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靜態ip地址
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網段：192.168.0.x
已佔用的地址：
192.168.0.57 usv3-laptop 192.168.0.205 hans-linuxpc -
工控機密碼
123
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設定工控機網路
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靜態ip地址，無需改動
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連線鍵盤滑鼠，使用
sudo gedit /etc/hosts在其中新增你的pc：
192.168.0.x xxxxxx
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遠端連線伺服器
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ping測試
# usv3 # you can also ping usv3-laptop ping 192.168.0.57 # inet(usv) ping 192.168.0.11 # inet(land) ping 192.168.0.26 -
遠端登入
ssh usv3@usv3-laptop
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編譯
cd ~/dev/catkin_ws_serial_03 catkin_make -
推進器連線電源，並開啟開關
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依次連線SBG、GPS、推進器
賦許可權：
dmesg | grep tty看一下是不是3個，然後：
sudo chmod a+rw /dev/ttyUSB0 sudo chmod a+rw /dev/ttyUSB1 sudo chmod a+rw /dev/ttyUSB2 -
執行ros命令
記得每次都需要遠端連線，並
cd ~/dev/catkin_ws_serial_03 source devel/setup.bash隨後：
roscore執行：
roslaunch launch_files npu_asv_sensor.launch SUMMARY ======== CLEAR PARAMETERS * /ekf_se_ship3/ PARAMETERS * /ekf_se_ship3/acceleration_gains: [0.8, 0.0, 0.0, 0... * /ekf_se_ship3/acceleration_limits: [1.3, 0.0, 0.0, 0... * /ekf_se_ship3/base_link_frame: base_link * /ekf_se_ship3/control_config: [True, False, Fal... * /ekf_se_ship3/control_timeout: 0.2 * /ekf_se_ship3/debug: False * /ekf_se_ship3/debug_out_file: /path/to/debug/fi... * /ekf_se_ship3/deceleration_gains: [1.0, 0.0, 0.0, 0... * /ekf_se_ship3/deceleration_limits: [1.3, 0.0, 0.0, 0... * /ekf_se_ship3/frequency: 30 * /ekf_se_ship3/imu0: /imu_data1 * /ekf_se_ship3/imu0_config: [False, False, Fa... * /ekf_se_ship3/imu0_differential: False * /ekf_se_ship3/imu0_linear_acceleration_rejection_threshold: 0.8 * /ekf_se_ship3/imu0_nodelay: False * /ekf_se_ship3/imu0_pose_rejection_threshold: 0.8 * /ekf_se_ship3/imu0_queue_size: 5 * /ekf_se_ship3/imu0_relative: False * /ekf_se_ship3/imu0_remove_gravitational_acceleration: False * /ekf_se_ship3/imu0_twist_rejection_threshold: 0.8 * /ekf_se_ship3/initial_estimate_covariance: ['1e-9', 0, 0, 0,... * /ekf_se_ship3/map_frame: map * /ekf_se_ship3/odom0: /odom * /ekf_se_ship3/odom0_config: [True, True, Fals... * /ekf_se_ship3/odom0_differential: True * /ekf_se_ship3/odom0_nodelay: False * /ekf_se_ship3/odom0_pose_rejection_threshold: 5 * /ekf_se_ship3/odom0_queue_size: 10 * /ekf_se_ship3/odom0_relative: False * /ekf_se_ship3/odom0_twist_rejection_threshold: 1 * /ekf_se_ship3/odom1: example/odom * /ekf_se_ship3/odom1_config: [True, True, Fals... * /ekf_se_ship3/odom1_differential: False * /ekf_se_ship3/odom1_nodelay: False * /ekf_se_ship3/odom1_pose_rejection_threshold: 2 * /ekf_se_ship3/odom1_queue_size: 10 * /ekf_se_ship3/odom1_relative: True * /ekf_se_ship3/odom1_twist_rejection_threshold: 1 * /ekf_se_ship3/odom_frame: odom * /ekf_se_ship3/pose0: example/pose * /ekf_se_ship3/pose0_config: [True, True, Fals... * /ekf_se_ship3/pose0_differential: True * /ekf_se_ship3/pose0_nodelay: False * /ekf_se_ship3/pose0_queue_size: 5 * /ekf_se_ship3/pose0_rejection_threshold: 2 * /ekf_se_ship3/pose0_relative: False * /ekf_se_ship3/print_diagnostics: True * /ekf_se_ship3/process_noise_covariance: [0.05, 0, 0, 0, 0... * /ekf_se_ship3/publish_acceleration: False * /ekf_se_ship3/publish_tf: False * /ekf_se_ship3/sensor_timeout: 1 * /ekf_se_ship3/stamped_control: False * /ekf_se_ship3/transform_time_offset: 0.0 * /ekf_se_ship3/transform_timeout: 0.0 * /ekf_se_ship3/twist0: example/twist * /ekf_se_ship3/twist0_config: [False, False, Fa... * /ekf_se_ship3/twist0_nodelay: False * /ekf_se_ship3/twist0_queue_size: 3 * /ekf_se_ship3/twist0_rejection_threshold: 2 * /ekf_se_ship3/two_d_mode: True * /ekf_se_ship3/use_control: False * /ekf_se_ship3/world_frame: odom * /nmea_serial_driver_node_ship3/baud: 115200 * /nmea_serial_driver_node_ship3/frame_id: odom * /nmea_serial_driver_node_ship3/port: /dev/ttyUSB2 * /nmea_serial_driver_node_ship3/time_ref_source: gps * /nmea_serial_driver_node_ship3/useRMC: False * /rosdistro: kinetic * /rosversion: 1.12.14 NODES / ekf_se_ship3 (robot_localization/ekf_localization_node) imudata_sbg_ship3 (tutorial/imudata_sbg.py) listener_ship3 (my_serial_node/listener) nmea_serial_driver_node_ship3 (nmea_navsat_driver/nmea_serial_driver) odom_trans_ship3 (tutorial/odom_trans_npu.py) sbg_serial_ship3 (my_serial_node/sbg_serial) sonar_listener_ship3 (my_serial_node/sonar_listener) sonar_serial_ship3 (my_serial_node/sonar_serial) utm_odometry_node_ship3 (gps_common/utm_odometry_node) ROS_MASTER_URI=http://localhost:11311 process[sbg_serial_ship3-1]: started with pid [10077] process[listener_ship3-2]: started with pid [10078] process[nmea_serial_driver_node_ship3-3]: started with pid [10088] process[sonar_listener_ship3-4]: started with pid [10101] process[sonar_serial_ship3-5]: started with pid [10104] process[utm_odometry_node_ship3-6]: started with pid [10112] process[imudata_sbg_ship3-7]: started with pid [10121] process[odom_trans_ship3-8]: started with pid [10127] [ERROR] [1606464842.121274597]: Unable to open Sonarport process[ekf_se_ship3-9]: started with pid [10149]執行：
roslaunch launch_files npu_asv_actuator.launch NODES / talker_ship3 (my_serial_node/talker_ship2u1) thrust_serial_ship3 (my_serial_node/thrust_serial)
注意：
根目錄下： [. ./sens] tab 補全執行
根目錄下： [. ./ac] 補全
本地電腦catkin_boat下執行roslaunch
內容提要：瓜大無人船包編譯指南。
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新建工作空間與原始檔夾
mkdir -p [WORKSPACE]/src192.168.0.57 usv3-laptop 192.168.0.205 hans-linuxpc -
嘗試編譯
cd [WORKSPACE]/ catkin_make -
報錯
-- Checking for module 'bullet' -- No package 'bullet' found CMake Error at mypackage/geometry2/tf2_bullet/CMakeLists.txt:11 (find_package): By not providing "Findbullet.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "bullet", but CMake did not find one. Could not find a package configuration file provided by "bullet" with any of the following names: bulletConfig.cmake bullet-config.cmake Add the installation prefix of "bullet" to CMAKE_PREFIX_PATH or set "bullet_DIR" to a directory containing one of the above files. If "bullet" provides a separate development package or SDK, be sure it has been installed. -- Configuring incomplete, errors occurred! See also "/home/hans/catkin_boat/build/CMakeFiles/CMakeOutput.log". See also "/home/hans/catkin_boat/build/CMakeFiles/CMakeError.log". Invoking "cmake" failed -
解決
sudo apt-get install libbullet-dev -
繼續編譯，報錯
-- Checking for one of the modules 'libusb' CMake Error at /usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:578 (message): None of the required 'libusb' found Call Stack (most recent call first): mypackage/joystick_drivers/ps3joy/CMakeLists.txt:6 (pkg_search_module) CMake Error at mypackage/joystick_drivers/ps3joy/CMakeLists.txt:11 (message): Failed to find libusb -- Configuring incomplete, errors occurred! See also "/home/hans/catkin_boat/build/CMakeFiles/CMakeOutput.log". See also "/home/hans/catkin_boat/build/CMakeFiles/CMakeError.log". Invoking "cmake" failed -
解決
sudo apt-get install libusb-dev -
繼續編譯，報錯
-- Checking for module 'libgps' -- No package 'libgps' found CMake Error at /usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:367 (message): A required package was not found Call Stack (most recent call first): /usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:532 (_pkg_check_modules_internal) mypackage/gps_umd/gpsd_client/CMakeLists.txt:15 (pkg_check_modules) -- Configuring incomplete, errors occurred! See also "/home/hans/catkin_boat/build/CMakeFiles/CMakeOutput.log". See also "/home/hans/catkin_boat/build/CMakeFiles/CMakeError.log". Invoking "cmake" failed -
解決
sudo apt-get install libgps-dev -
繼續編譯，報錯
-- +++ processing catkin package: 'robot_localization' -- ==> add_subdirectory(mypackage/robot_localization) robot_localization: You did not request a specific build type: selecting 'RelWithDebInfo'. CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package): Could not find a package configuration file provided by "geographic_msgs" with any of the following names: geographic_msgsConfig.cmake geographic_msgs-config.cmake Add the installation prefix of "geographic_msgs" to CMAKE_PREFIX_PATH or set "geographic_msgs_DIR" to a directory containing one of the above files. If "geographic_msgs" provides a separate development package or SDK, be sure it has been installed. Call Stack (most recent call first): mypackage/robot_localization/CMakeLists.txt:9 (find_package) -- Could not find the required component 'geographic_msgs'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found. CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by "geographic_msgs" with any of the following names: geographic_msgsConfig.cmake geographic_msgs-config.cmake Add the installation prefix of "geographic_msgs" to CMAKE_PREFIX_PATH or set "geographic_msgs_DIR" to a directory containing one of the above files. If "geographic_msgs" provides a separate development package or SDK, be sure it has been installed. Call Stack (most recent call first): mypackage/robot_localization/CMakeLists.txt:9 (find_package) -- Configuring incomplete, errors occurred! See also "/home/hans/catkin_boat/build/CMakeFiles/CMakeOutput.log". See also "/home/hans/catkin_boat/build/CMakeFiles/CMakeError.log". Invoking "cmake" failed -
解決
sudo apt-get install ros-kinetic-geographic-msgs -
繼續編譯，報錯
[ 7%] Building CXX object mypackage/joystick_drivers/joy/CMakeFiles/joy_node.dir/src/joy_node.cpp.o cc1: warning: command line option ‘-std=c++11’ is valid for C++/ObjC++ but not for C /home/hans/catkin_boat/src/mypackage/joystick_drivers/spacenav_node/src/spacenav_node.cpp:38:19: fatal error: spnav.h: 沒有那個檔案或目錄 compilation terminated. mypackage/joystick_drivers/spacenav_node/CMakeFiles/spacenav_node.dir/build.make:62: recipe for target 'mypackage/joystick_drivers/spacenav_node/CMakeFiles/spacenav_node.dir/src/spacenav_node.cpp.o' failed make[2]: *** [mypackage/joystick_drivers/spacenav_node/CMakeFiles/spacenav_node.dir/src/spacenav_node.cpp.o] Error 1 CMakeFiles/Makefile2:15321: recipe for target 'mypackage/joystick_drivers/spacenav_node/CMakeFiles/spacenav_node.dir/all' failed make[1]: *** [mypackage/joystick_drivers/spacenav_node/CMakeFiles/spacenav_node.dir/all] Error 2 make[1]: *** 正在等待未完成的任務.... -
解決
sudo apt-get install libspnav-dev -
繼續編譯，報錯
In file included from /home/hans/catkin_boat/src/mypackage/joystick_drivers/wiimote/src/wiimote_controller.cpp:45:0: /home/hans/catkin_boat/src/mypackage/joystick_drivers/wiimote/include/wiimote/wiimote_controller.h:49:53: fatal error: bluetooth/bluetooth.h: 沒有那個檔案或目錄 compilation terminated. mypackage/joystick_drivers/wiimote/CMakeFiles/wiimote_node.dir/build.make:62: recipe for target 'mypackage/joystick_drivers/wiimote/CMakeFiles/wiimote_node.dir/src/wiimote_controller.cpp.o' failed make[2]: *** [mypackage/joystick_drivers/wiimote/CMakeFiles/wiimote_node.dir/src/wiimote_controller.cpp.o] Error 1 CMakeFiles/Makefile2:23860: recipe for target 'mypackage/joystick_drivers/wiimote/CMakeFiles/wiimote_node.dir/all' failed make[1]: *** [mypackage/joystick_drivers/wiimote/CMakeFiles/wiimote_node.dir/all] Error 2 make[1]: *** 正在等待未完成的任務.... -
解決
sudo apt-get install libbluetooth-dev -
繼續編譯，報錯
[ 94%] Building CXX object mypackage/geometry2/tf2_ros/CMakeFiles/tf2_ros_buffer_server.dir/src/buffer_server_main.cpp.o In file included from /home/hans/catkin_boat/src/mypackage/joystick_drivers/wiimote/src/wiimote_controller.cpp:45:0: /home/hans/catkin_boat/src/mypackage/joystick_drivers/wiimote/include/wiimote/wiimote_controller.h:52:35: fatal error: cwiid.h: 沒有那個檔案或目錄 compilation terminated. [ 94%] Linking CXX executable /home/hans/catkin_boat/devel/lib/joy/joy_node mypackage/joystick_drivers/wiimote/CMakeFiles/wiimote_node.dir/build.make:62: recipe for target 'mypackage/joystick_drivers/wiimote/CMakeFiles/wiimote_node.dir/src/wiimote_controller.cpp.o' failed make[2]: *** [mypackage/joystick_drivers/wiimote/CMakeFiles/wiimote_node.dir/src/wiimote_controller.cpp.o] Error 1 make[2]: *** 正在等待未完成的任務.... -
解決
sudo apt-get install libcwiid-dev -
編譯完成。