搭建無人機模擬環境之PX4安裝中出現的一些問題的解決
阿新 • • 發佈：2021-01-25
技術標籤：無人機-pixhawk-PX4無人機-阿木-普羅米修斯-模擬無人機-阿木實驗室-個人筆記
摘自：https://blog.csdn.net/wangdongjiab/article/details/107230585
搭建無人機模擬環境之PX4安裝
Djarea 2020-07-09 16:02:23 583 收藏 6
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搭建無人機模擬環境之PX4安裝
安裝依賴包
sudo apt install python3-pip pip3 install --user pandas -i http://pypi.douban.com/simple --trusted-host pypi.douban.com pip3 install --user jinja2 -i http://pypi.douban.com/simple --trusted-host pypi.douban.com pip3 install --user empy -i http://pypi.douban.com/simple --trusted-host pypi.douban.com pip3 install --user packaging -i http://pypi.douban.com/simple --trusted-host pypi.douban.com pip3 install --user toml -i http://pypi.douban.com/simple --trusted-host pypi.douban.com pip3 install --user numpy -i http://pypi.douban.com/simple --trusted-host pypi.douban.com pip3 install --user pyquaternion -i http://pypi.douban.com/simple --trusted-host pypi.douban.com
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如果遇到問題：
安裝包出現Retrying (Retry(total=4, connect=None, read=None, redirect=None, status=None)) after connection broken by 'ConnectTimeoutError
解決辦法如：
pip install pandas -i http://pypi.douban.com/simple --trusted-host pypi.douban.com
下載韌體
git clone https://github.com/PX4/Firmware mv Firmware PX4_Firmware cd PX4_Firmware git checkout -b xtdrone/dev v1.11.0-beta1 git submodule update --init --recursive make posix_sitl_default gazebo
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如果遇到git clone 速度非常慢，可以將原本的網站中的http://github.com 進行替換為github.com.cnpmjs.org。例如 git clone https://github.com.cnpmjs.org/PX4/Firmware
git submodule update --init --recursive中遇到的問題
- 問題1
如果使用映象github.com.cnpmjs.org進行git clone ，在執行git submodule update --init --recursive時出現：
~/PX4_Firmware$ git submodule update --init --recursive
子模組 'Tools/jMAVSim'（https://github.com.cnpmjs.org/PX4/jMAVSim.git）未對路徑 'Tools/jMAVSim' 註冊
子模組 'Tools/sitl_gazebo'（https://github.com.cnpmjs.org/PX4/sitl_gazebo.git）未對路徑 'Tools/sitl_gazebo' 註冊
子模組 'boards/atlflight/cmake_hexagon'（https://github.com.cnpmjs.org/PX4/cmake_hexagon.git）未對路徑 'boards/atlflight/cmake_hexagon' 註冊
子模組 'mavlink/include/mavlink/v2.0'（https://github.com.cnpmjs.org/mavlink/c_library_v2.git）未對路徑 'mavlink/include/mavlink/v2.0' 註冊
子模組 'platforms/nuttx/NuttX/apps'（https://github.com.cnpmjs.org/PX4/NuttX-apps.git）未對路徑 'platforms/nuttx/NuttX/apps' 註冊
子模組 'platforms/nuttx/NuttX/nuttx'（https://github.com.cnpmjs.org/PX4/NuttX.git）未對路徑 'platforms/nuttx/NuttX/nuttx' 註冊
子模組 'platforms/qurt/dspal'（https://github.com.cnpmjs.org/ATLFlight/dspal.git）未對路徑 'platforms/qurt/dspal' 註冊
子模組 'src/drivers/gps/devices'（https://github.com.cnpmjs.org/PX4/GpsDrivers.git）未對路徑 'src/drivers/gps/devices' 註冊
子模組 'src/drivers/uavcan/libuavcan'（https://github.com.cnpmjs.org/PX4/uavcan.git）未對路徑 'src/drivers/uavcan/libuavcan' 註冊
子模組 'src/lib/ecl'（https://github.com.cnpmjs.org/PX4/ecl.git）未對路徑 'src/lib/ecl' 註冊
子模組 'src/lib/matrix'（https://github.com.cnpmjs.org/PX4/Matrix.git）未對路徑 'src/lib/matrix' 註冊
子模組 'src/modules/micrortps_bridge/micro-CDR'（https://github.com.cnpmjs.org/PX4/micro-CDR.git）未對路徑 'src/modules/micrortps_bridge/micro-CDR' 註冊
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解決方法：
檢查 .gitmodule檔案中的url格式
按照以下方法更換一下即可：
gedit .gitmodules
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將.gitmodules檔案中所有github.com替換為github.com.cnpmjs.org，例如
[submodule “mavlink/include/mavlink/v2.0”]
path = mavlink/include/mavlink/v2.0
url = https://github.com.cnpmjs.org/mavlink/c_library_v2.git
branch = master
修改完後，再次執行：
git submodule sync
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- 問題2
[email protected]:~/PX4_Firmware$ git submodule update --init --recursive
fatal: Needed a single revision
無法在子模組路徑 'Tools/jMAVSim' 中找到當前版本
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解決方法:
刪除對應資料夾，如刪除資料夾 jMAVSim
make posix_sitl_default gazebo中遇到的問題
- 問題1
CMake Error at CMakeLists.txt:32 (find_package):
By not providing "Findgazebo.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "gazebo", but
CMake did not find one.
Could not find a package configuration file provided by "gazebo" with any
of the following names:
gazeboConfig.cmake
gazebo-config.cmake
Add the installation prefix of "gazebo" to CMAKE_PREFIX_PATH or set
"gazebo_DIR" to a directory containing one of the above files. If "gazebo"
provides a separate development package or SDK, be sure it has been
installed.
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解決方法：
sudo apt-get install libgazebo9-dev
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- 問題2
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
GSTREAMER_LIBRARIES (ADVANCED)
linked by target "gazebo_vision_plugin" in directory /home/dj/PX4_Firmware/Tools/sitl_gazebo
linked by target "gazebo_uuv_plugin" in directory /home/dj/PX4_Firmware/Tools/sitl_gazebo
... ...
-- Configuring incomplete, errors occurred!
See also "/home/dj/PX4_Firmware/build/px4_sitl_default/build_gazebo/CMakeFiles/CMakeOutput.log".
See also "/home/dj/PX4_Firmware/build/px4_sitl_default/build_gazebo/CMakeFiles/CMakeError.log".
[143/573] Building CXX object platform...CMakeFiles/px4_layer.dir/px4_sem.cpp.o
FAILED: external/Stamp/sitl_gazebo/sitl_gazebo-configure
cd /home/dj/PX4_Firmware/build/px4_sitl_default/build_gazebo && /usr/bin/cmake -DCMAKE_INSTALL_PREFIX=/usr/local -DSEND_VISION_ESTIMATION_DATA=ON -GNinja /home/dj/PX4_Firmware/Tools/sitl_gazebo && /usr/bin/cmake -E touch /home/dj/PX4_Firmware/build/px4_sitl_default/external/Stamp/sitl_gazebo/sitl_gazebo-configure
[151/573] Building CXX object platform...n/CMakeFiles/px4_layer.dir/tasks.cpp.o
ninja: build stopped: subcommand failed.
Makefile:198: recipe for target 'px4_sitl_default' failed
make: *** [px4_sitl_default] Error 1
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解決方法：
sudo apt-get install libgstreamer-plugins-base1.0-dev
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- 問題3
執行Gazebo出現：[Err] [REST.cc:205] Error in REST request
解決方法：
開啟編輯~/.ignition/fuel/config.yaml檔案
sudo gedit ~/.ignition/fuel/config.yaml
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首先註釋 url : https://api.ignitionfuel.org
然後新增 url: https://api.ignitionrobotics.org
servers:
-
name: osrf
url: https://api.ignitionrobotics.org
# url: https://api.ignitionfuel.org
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重新啟動即可
執行roslaunch px4 mavros_posix_sitl.launch遇到的問題
- 問題1
VMware: vmw_ioctl_command error 無效的引數.
Aborted (core dumped)
[gazebo_gui-4] process has died [pid 2104, exit code 134, cmd /opt/ros/melodic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/dj/.ros/log/92926e0c-c1e4-11ea-b959-000c2928d800/gazebo_gui-4.log].
log file: /home/dj/.ros/log/92926e0c-c1e4-11ea-b959-000c2928d800/gazebo_gui-4*.log
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解決方法：
$ export SVGA_VGPU10=0
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- 問題2
Resource not found: gazebo_ros
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/opt/ros/melodic/share
ROS path [2]=/home/dj/PX4_Firmware
ROS path [3]=/home/dj/PX4_Firmware/Tools/sitl_gazebo
The traceback for the exception was written to the log file
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解決方法：
$ sudo apt-get install ros-melodic-gazebo-ros-pkgs ros-melodic-gazebo-ros-control
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-問題3
RLException: [indoor1.launch] is neither a launch file in package [px4] nor is [px4] a launch file name
The traceback for the exception was written to the log file
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解決方法：
source ~/PX4_Firmware/Tools/setup_gazebo.bash ~/PX4_Firmware/ ~/PX4_Firmware/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4_Firmware
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4_Firmware/Tools/sitl_gazebo