電腦配置
Ubuntu 16.04+ROS kinetic
前期準備工作
sudo apt-get install ros-kinetic-desktop-full ros-kinetic-joy ros-kinetic-octomap-ros ros-kinetic-mavlink python-wstool python-catkin-tools protobuf-compiler libgoogle-glog-dev ros-kinetic-control-toolbox
各種問題
1. Could not find a package configuration file provided by "geographic_msgs"
sudo apt-get install ros-kinetic-geographic-msgs
2. from future import standard_library
ImportError: No module named future
sudo pip install future
3. Could not find a package configuration file provided by "geographic_msgs"
sudo apt-get install ros-kinetic-geographic-msgs
4. Could NOT find GeographicLib (missing: GeographicLib_LIBRARIES
GeographicLib_INCLUDE_DIRS)
sudo apt-get install libgeographic-dev
sudo apt-get install libgeographic14
參考https://packages.ubuntu.com/source/xenial/geographiclib
5. Could not find a package configuration file provided by "octomap_ros"
sudo apt-get install ros-kinetic-octomap-ros
6. Failed to find glog - Could not find glog include directory, set
GLOG_INCLUDE_DIR to directory containing glog/logging.h
sudo apt-get install libgoogle-glog-dev
7. Errors << rotors_hil_interface:make
在hil_interface.h 加入代碼
#include <mavros_msgs/HilControls.h>
#include <mavros_msgs/mavlink_convert.h>
#ifndef MAVLINK_H
typedef mavlink::mavlink_message_t mavlink_message_t;
#include <mavlink/v2.0/common/mavlink.h>
#endif
#include <rotors_hil_interface/hil_listeners.h>
namespace rotors_hil {
參考https://github.com/ethz-asl/rotors_simulator/pull/522/files
8. odom.cpp:234:51: error: ‘struct mavlink::common::msg::ODOMETRY’ has no member named ‘twist_covariance’
ftf::covariance_urt_to_mavlink(cov_vel_map, msg.twist_covariance);
將odom.cpp的234行註釋掉
//ftf::covariance_urt_to_mavlink(cov_vel_map, msg.twist_covariance);
如果要使用此cpp再具體解決
9. make[2]: *** No rule to make target '/home/dale/rotor/src/rotors_simulator/rotors_gazebo_plugins/PROTOBUF_PROTOC_EXECUTABLE-NOTFOUND', needed by 'PoseWithCovarianceStamped.pb.cc'. Stop.
刪除build文件夾裏面的
rotors_gazebo_plugins
重新編譯
參考https://blog.csdn.net/qq_27474467/article/details/80506882
參考資料
https://blog.csdn.net/qq_38019633/article/details/84074442