建设银行 福州招聘网站,投资公司logo,seo推广优化找stso88效果好,哪些网站做面试题重新配置所有的软件 卸载之前安装的ROS GAZEBO 记得把/home下的.ros和.gazebo也删除#xff0c;删就删干净 参考链接#xff1a;ROS的卸载与安装 血泪总结#xff01;亲测有效 卸载ROS方法
正式安装 安装依赖
sudo apt install ninja-build exiftool ninja-build protobuf…重新配置所有的软件 卸载之前安装的ROS GAZEBO 记得把/home下的.ros和.gazebo也删除删就删干净 参考链接ROS的卸载与安装 血泪总结亲测有效 卸载ROS方法
正式安装 安装依赖
sudo apt install ninja-build exiftool ninja-build protobuf-compiler libeigen3-dev genromfs xmlstarlet libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev python-pip python3-pip gawk -i https://pypi.tuna.tsinghua.edu.cn/simple/pip2 install pandas jinja2 pyserial cerberus pyulog0.7.0 numpy toml pyquaternion empy pyyaml -i https://pypi.tuna.tsinghua.edu.cn/simple/pip3 install packaging numpy empy toml pyyaml jinja2 pyargparse -i https://pypi.tuna.tsinghua.edu.cn/simple/国内源地址
https://pypi.tuna.tsinghua.edu.cn/simple/http://mirrors.aliyun.com/pypi/simple/http://pypi.mirrors.ustc.edu.cn/simple/https://repo.huaweicloud.com/repository/pypi/simple/ROS安装
参考链接ubuntu 18.04 三五分钟即可一键安装ROS系统亲测有效 再次安装出现依赖混乱的问题 apt-get purge package-name
sudo apt-get purge ninja-build exiftool ninja-build protobuf-compiler libeigen3-dev genromfs xmlstarlet libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev python-pip python3-pip gawk下列软件包是自动安装的并且现在不需要了default-libmysqlclient-dev dh-python freeglut3 freeglut3-dev gdal-datagir1.2-harfbuzz-0.0 google-mock googletest hdf5-helpers ibverbs-providersicu-devtools libaec-dev libaec0 libapr1 libapr1-dev libaprutil1libaprutil1-dev libarmadillo-dev libarmadillo8 libarpack2 libarpack2-devlibassuan-dev libavcodec-dev libavdevice-dev libavdevice57 libavfilter-devlibavformat-dev libavresample-dev libavutil-dev libblas-dev libblas3libboost-all-dev libboost-atomic-dev libboost-atomic1.65-devlibboost-atomic1.65.1 libboost-chrono-dev libboost-chrono1.65-devlibboost-chrono1.65.1 libboost-container-dev libboost-container1.65-devlibboost-container1.65.1 libboost-context-dev libboost-context1.65-devlibboost-context1.65.1 libboost-coroutine-dev libboost-coroutine1.65-devlibboost-coroutine1.65.1 libboost-date-time-dev libboost-date-time1.65-devlibboost-dev libboost-exception-dev libboost-exception1.65-devlibboost-fiber-dev libboost-fiber1.65-dev libboost-fiber1.65.1libboost-filesystem-dev libboost-filesystem1.65-dev libboost-graph-devlibboost-graph-parallel-dev libboost-graph-parallel1.65-devlibboost-graph-parallel1.65.1 libboost-graph1.65-dev libboost-graph1.65.1libboost-iostreams-dev libboost-iostreams1.65-dev libboost-locale-devlibboost-locale1.65-dev libboost-log-dev libboost-log1.65-devlibboost-log1.65.1 libboost-math-dev libboost-math1.65-devlibboost-math1.65.1 libboost-mpi-dev libboost-mpi-python-devlibboost-mpi-python1.65-dev libboost-mpi-python1.65.1 libboost-mpi1.65-devlibboost-mpi1.65.1 libboost-numpy-dev libboost-numpy1.65-devlibboost-numpy1.65.1 libboost-program-options-devlibboost-program-options1.65-dev libboost-program-options1.65.1libboost-python-dev libboost-python1.65-dev libboost-python1.65.1libboost-random-dev libboost-random1.65-dev libboost-random1.65.1libboost-regex-dev libboost-regex1.65-dev libboost-regex1.65.1libboost-serialization-dev libboost-serialization1.65-devlibboost-serialization1.65.1 libboost-signals-dev libboost-signals1.65-devlibboost-signals1.65.1 libboost-stacktrace-dev libboost-stacktrace1.65-devlibboost-stacktrace1.65.1 libboost-system-dev libboost-system1.65-devlibboost-test-dev libboost-test1.65-dev libboost-test1.65.1libboost-thread-dev libboost-thread1.65-dev libboost-timer-devlibboost-timer1.65-dev libboost-timer1.65.1 libboost-tools-devlibboost-type-erasure-dev libboost-type-erasure1.65-devlibboost-type-erasure1.65.1 libboost-wave-dev libboost-wave1.65-devlibboost-wave1.65.1 libboost1.65-dev libboost1.65-tools-dev libbullet-devlibbullet2.87 libbz2-dev libconsole-bridge-dev libconsole-bridge0.4libcurl4-openssl-dev libdap-dev libdap25 libdapclient6v5 libdapserver7v5libdrm-dev libegl1-mesa-dev libepsilon-dev libepsilon1 libexpat1-devlibfabric1 libfreeimage-dev libfreeimage3 libfreexl-dev libfreexl1libfyba-dev libfyba0 libgdal-dev libgdal20 libgeos-3.6.2 libgeos-c1v5libgeos-dev libgeotiff-dev libgeotiff2 libgfortran4 libgif-dev libgif7libgl1-mesa-dev libgles1 libgles2-mesa-dev libglib2.0-dev libglib2.0-dev-binlibglu1-mesa-dev libglvnd-core-dev libglvnd-dev libgpg-error-devlibgpgme-dev libgraphite2-dev libgtest-dev libgts-dev libharfbuzz-devlibharfbuzz-gobject0 libhdf4-0-alt libhdf4-alt-dev libhdf5-100libhdf5-cpp-100 libhdf5-dev libhwloc-dev libhwloc-plugins libhwloc5libibverbs-dev libibverbs1 libice-dev libicu-dev libicu-le-hb-devlibicu-le-hb0 libiculx60 libignition-common libignition-fuel-tools1-1libignition-math4 libignition-msgs libignition-transport4 libjbig-devlibjpeg-dev libjpeg-turbo8-dev libjpeg8-dev libjson-c-dev libjsoncpp-devlibjxr0 libkml-dev libkmlbase1 libkmlconvenience1 libkmldom1 libkmlengine1libkmlregionator1 libkmlxsd1 liblapack-dev liblapack3 libldap2-devliblog4cxx-dev liblog4cxx10v5 libltdl7:i386 liblz4-dev liblzma-devlibminizip-dev libminizip1 libmysqlclient-dev libmysqlclient20 libnetcdf-devlibnetcdf13 libnl-route-3-200 libnuma-dev libodbc1 libogdi3.2 libogdi3.2-devlibogre-1.9-dev libogre-1.9.0v5 libopenblas-base libopengl0 libopenjp2-7-devlibopenmpi-dev libopenmpi2 liborc-0.4-dev liborc-0.4-dev-bin libpcre16-3libpcre3-dev libpcre32-3 libpcrecpp0v5 libpng-dev libpng-tools libpoco-devlibpococrypto50 libpocodata50 libpocodatamysql50 libpocodataodbc50libpocodatasqlite50 libpocofoundation50 libpocojson50 libpocomongodb50libpoconet50 libpoconetssl50 libpocoredis50 libpocoutil50 libpocoxml50libpocozip50 libpoppler-dev libpoppler-private-dev libpostproc-dev libpq-devlibpq5 libproj-dev libproj12 libprotobuf-dev libprotobuf-lite10libprotoc-dev libprotoc10 libpsm-infinipath1 libpthread-stubs0-devlibpython-all-dev libpython-dev libpython2.7-dev libpython3-devlibpython3.6-dev libqhull-dev libqhull-r7 libqhull7 libqt5concurrent5libqt5designer5 libqt5opengl5 libqt5opengl5-dev libqt5sql5 libqt5sql5-sqlitelibqt5test5 libqwt-headers libqwt-qt5-6 libqwt-qt5-dev librdmacm1libsctp-dev libsctp1 libsdformat6 libsdl2-2.0-0 libsimbody-devlibsimbody3.5v5 libsm-dev libspatialite-dev libspatialite7 libspnav0libsqlite3-dev libssl-dev libsuperlu-dev libsuperlu5 libswresample-devlibswscale-dev libsz2 libtar-dev libtar0 libtbb-dev libtbb2 libtiff-devlibtiff5-dev libtiffxx5 libtinyxml-dev libtinyxml2-6 libtinyxml2-devlibtinyxml2.6.2v5 liburdfdom-dev liburdfdom-headers-dev liburdfdom-modelliburdfdom-model-state liburdfdom-sensor liburdfdom-world liburiparser-devliburiparser1 libusb-1.0-0-dev libusb-1.0-doc libwayland-bin libwayland-devlibwebp-dev libwxbase3.0-0v5 libwxgtk3.0-gtk3-0v5 libx11-dev libx11-doclibx11-xcb-dev libxau-dev libxcb-dri2-0-dev libxcb-dri3-dev libxcb-glx0-devlibxcb-present-dev libxcb-randr0-dev libxcb-render0-dev libxcb-shape0-devlibxcb-sync-dev libxcb-xfixes0-dev libxcb1-dev libxdamage-dev libxdmcp-devlibxerces-c-dev libxerces-c3.2 libxext-dev libxfixes-dev libxi-devlibxml2-dev libxmu-dev libxmu-headers libxshmfence-dev libxt-devlibxxf86vm-dev libyaml-cpp-dev libyaml-cpp0.5v5 libyaml-dev libzip-devlibzip4 libzmq3-dev linux-headers-5.4.0-146-genericlinux-hwe-5.4-headers-5.4.0-146 linux-image-5.4.0-146-genericlinux-modules-5.4.0-146-generic linux-modules-extra-5.4.0-146-genericmesa-common-dev mpi-default-bin mpi-default-dev mysql-common odbcinst:i386odbcinst1debian2 odbcinst1debian2:i386 openmpi-bin openmpi-common pkg-configproj-data python-all python-all-dev python-asn1crypto python-cffi-backendpython-crypto python-cryptography python-dbus python-defusedxml python-devpython-empy python-enum34 python-gi python-gnupg python-idnapython-ipaddress python-keyring python-keyrings.alt python-netifacespython-nose python-numpy python-paramiko python-pip-whl python-pyasn1python-pycryptodome python-rospkg python-secretstorage python-wheelpython-wxgtk3.0 python-wxtools python-wxversion python-xdg python2.7-devpython3-catkin-pkg-modules python3-dev python3-pyparsing python3-wheelpython3.6-dev qt5-qmake qt5-qmake-bin qtbase5-dev qtbase5-dev-toolsqtchooser sdformat-sdf ttf-dejavu-core unixodbc-dev uuid-devx11proto-core-dev x11proto-damage-dev x11proto-dev x11proto-fixes-devx11proto-input-dev x11proto-xext-dev x11proto-xf86vidmode-devxorg-sgml-doctools xtrans-dev zlib1g-dev
使用sudo apt autoremove来卸载它(它们)。
使用该命令删除之前安装的包如果依赖关系冲突不能被解决我的情况是给不出依赖问题解决方案如果不手动解决无法安装所以我直接卸载删除之前安装的所有
sudo apt autoremove然后使用命令
wget http://fishros.com/install -O fishros . fishros使用roscore命令检查是否安装成功。
... logging to /home/sunx/.ros/log/56dfc0a6-ecbd-11ed-98fb-28cdc497963d/roslaunch-sunx-NBLK-WAX9X-15496.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is 1GB.started roslaunch server http://sunx-NBLK-WAX9X:37869/
ros_comm version 1.14.13SUMMARY
PARAMETERS* /rosdistro: melodic* /rosversion: 1.14.13NODESauto-starting new master
process[master]: started with pid [15516]
ROS_MASTER_URIhttp://sunx-NBLK-WAX9X:11311/setting /run_id to 56dfc0a6-ecbd-11ed-98fb-28cdc497963d
process[rosout-1]: started with pid [15534]
started core service [/rosout]
安装完后还需要初始化下rosdep
wget http://fishros.com/install -O fishros . fishros由于前面已经删除了catkin_ws所以这里需要重新建一个。
mkdir -p ~/catkin_ws/src
mkdir -p ~/catkin_ws/scripts
cd catkin_ws catkin init # 使用catkin_make话则为cd catkin_ws/src catkin_init_workspace
catkin build # 使用catkin_make话则为 cd .. catkin_make
如果前面没用过catkin build需要先装catkin-toolssudo apt install python3-catkin-tools。 然后再
mkdir -p ~/catkin_ws/src
mkdir -p ~/catkin_ws/scripts
cd catkin_ws catkin init # 使用catkin_make话则为cd catkin_ws/src catkin_init_workspace
catkin build # 使用catkin_make话则为 cd .. catkin_make Warning, builtin verb aliases at /home/sunx/.config/catkin/verb_aliases/00-default-aliases.yaml differ from builtin, overwriting
---------------------------------------------------------
Profile: default
Extending: [env] /opt/ros/melodic
Workspace: /home/sunx/catkin_ws
---------------------------------------------------------
Build Space: [exists] /home/sunx/catkin_ws/build
Devel Space: [exists] /home/sunx/catkin_ws/devel
Install Space: [unused] /home/sunx/catkin_ws/install
Log Space: [missing] /home/sunx/catkin_ws/logs
Source Space: [exists] /home/sunx/catkin_ws/src
DESTDIR: [unused] None
---------------------------------------------------------
Devel Space Layout: linked
Install Space Layout: None
---------------------------------------------------------
Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False
---------------------------------------------------------
Buildlisted Packages: None
Skiplisted Packages: None
---------------------------------------------------------
Workspace configuration appears valid.NOTE: Forcing CMake to run for each package.
---------------------------------------------------------
[build] No packages were found in the source space /home/sunx/catkin_ws/src
[build] No packages to be built.
[build] Package table is up to date.
Starting catkin_tools_prebuild
Finished catkin_tools_prebuild [ 2.6 seconds ]
[build] Summary: All 1 packages succeeded!
[build] Ignored: None.
[build] Warnings: None.
[build] Abandoned: None.
[build] Failed: None.
[build] Runtime: 2.6 seconds total. Gazebo
参考链接Ubuntu18安装Gazebo9 卸载
sudo apt-get remove gazebo*
sudo apt-get remove libgazebo*
sudo apt-get remove ros-melodic-gazebo* #kinetic noetic对应修改先Git一个XTDrone代码。
git clone https://gitee.com/robin_shaun/XTDrone.git
cd XTDrone
git submodule update --init --recursivestep-by-step安装方式
sudo sh -c echo deb http://packages.osrfoundation.org/gazebo/ubuntu-stable lsb_release -cs main /etc/apt/sources.list.d/gazebo-stable.listYou can check to see if the file was written correctly.
cat /etc/apt/sources.list.d/gazebo-stable.listsetup keys
wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -update the debian database
sudo apt-get updateNext install gazebo-9 by:
sudo apt-get install gazebo9
# For developers that work on top of Gazebo, one extra package
sudo apt-get install libgazebo9-dev检查安装情况
gazebo出现错误
sunxsunx-NBLK-WAX9X:~$ gazebo
gazebo: symbol lookup error: /usr/lib/x86_64-linux-gnu/libgazebo_common.so.9: undefined symbol: _ZN8ignition10fuel_tools12ClientConfig12SetUserAgentERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE这个是有相应的库没有升级
sudo apt upgrade libignition-math2我们对Gazebo的ROS插件做了修改因此需要源码编译。安装依赖
sudo apt-get install ros-melodic-moveit-msgs ros-melodic-object-recognition-msgs ros-melodic-octomap-msgs ros-melodic-camera-info-manager ros-melodic-control-toolbox ros-melodic-polled-camera ros-melodic-controller-manager ros-melodic-transmission-interface ros-melodic-joint-limits-interface然后编译如果编译时还缺其他的依赖同上方法安装由于需要用到XTDrone的文件需要先完成XTDrone源码下载。
cd ~/catkin_ws
cp -r ~/XTDrone/sitl_config/gazebo_ros_pkgs src/
catkin build #开发者测试使用catkin_make会出问题因此建议使用catkin build错误2 编译的时候的错误 执行catkin build时报错
---------------------------------------------------------
Profile: default
Extending: [env] /opt/ros/melodic
Workspace: /home/sunx/catkin_ws
---------------------------------------------------------
Build Space: [exists] /home/sunx/catkin_ws/build
Devel Space: [exists] /home/sunx/catkin_ws/devel
Install Space: [unused] /home/sunx/catkin_ws/install
Log Space: [exists] /home/sunx/catkin_ws/logs
Source Space: [exists] /home/sunx/catkin_ws/src
DESTDIR: [unused] None
---------------------------------------------------------
Devel Space Layout: linked
Install Space Layout: None
---------------------------------------------------------
Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False
---------------------------------------------------------
Buildlisted Packages: None
Skiplisted Packages: None
---------------------------------------------------------
Workspace configuration appears valid.
---------------------------------------------------------
[build] Found 6 packages in 0.0 seconds.
[build] Updating package table.
Starting gazebo_dev
Starting gazebo_msgs
Finished gazebo_dev [ 2.7 seconds ]
Finished gazebo_msgs [ 9.6 seconds ]
Starting gazebo_ros
Finished gazebo_ros [ 21.5 seconds ]
Starting gazebo_plugins
Starting gazebo_ros_control
Finished gazebo_ros_control [ 27.2 seconds ]
_______________________________________________________________________________
Errors gazebo_plugins:make /home/sunx/catkin_ws/logs/gazebo_plugins/build.make.000.log
c: internal compiler error: 已杀死 (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See file:///usr/share/doc/gcc-7/README.Bugs for instructions.
make[2]: *** [CMakeFiles/gazebo_ros_openni_kinect.dir/src/gazebo_ros_openni_kinect.cpp.o] Error 4
make[1]: *** [CMakeFiles/gazebo_ros_openni_kinect.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
make: *** [all] Error 2
cd /home/sunx/catkin_ws/build/gazebo_plugins; catkin build --get-env gazebo_plugins | catkin env -si /usr/bin/make --jobserver-fds3,4 -j; cd -...............................................................................
Failed gazebo_plugins:make [ Exited with code 2 ]
Failed gazebo_plugins [ 2 minutes and 26.4 seconds ]
Abandoned gazebo_ros_pkgs [ Unrelated job failed ]
[build] Summary: 4 of 6 packages succeeded.
[build] Ignored: None.
[build] Warnings: None.
[build] Abandoned: 1 packages were abandoned.
[build] Failed: 1 packages failed.
[build] Runtime: 2 minutes and 57.6 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.
这个错误是因为系统的交换空间不够,需要临时增加交换空间大小 参考链接make px4_sitl_default gazebo 我执行了命令释放空间
sudo dd if/dev/zero of/swapfile bs64M count32 #使用swap创建临时分区
#count的大小就是增加的swap空间的大小64M是块大小所以空间大小是bs*count1024MB这里空间大小也可以根据自己的需要设置
sudo mkswap /swapfile
sudo chmod 0600 /swapfile
sudo swapon /swapfile
swapoff -a再次执行catkin build通过编译
---------------------------------------------------------
Profile: default
Extending: [cached] /opt/ros/melodic
Workspace: /home/sunx/catkin_ws
---------------------------------------------------------
Build Space: [exists] /home/sunx/catkin_ws/build
Devel Space: [exists] /home/sunx/catkin_ws/devel
Install Space: [unused] /home/sunx/catkin_ws/install
Log Space: [exists] /home/sunx/catkin_ws/logs
Source Space: [exists] /home/sunx/catkin_ws/src
DESTDIR: [unused] None
---------------------------------------------------------
Devel Space Layout: linked
Install Space Layout: None
---------------------------------------------------------
Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False
---------------------------------------------------------
Buildlisted Packages: None
Skiplisted Packages: None
---------------------------------------------------------
Workspace configuration appears valid.
---------------------------------------------------------
[build] Found 6 packages in 0.0 seconds.
[build] Package table is up to date.
Starting gazebo_dev
Starting gazebo_msgs
Finished gazebo_dev [ 0.2 seconds ]
Finished gazebo_msgs [ 0.8 seconds ]
Starting gazebo_ros
Finished gazebo_ros [ 0.6 seconds ]
Starting gazebo_plugins
Starting gazebo_ros_control
Finished gazebo_ros_control [ 0.3 seconds ]
Finished gazebo_plugins [ 16.4 seconds ]
Starting gazebo_ros_pkgs
Finished gazebo_ros_pkgs [ 2.7 seconds ]
[build] Summary: All 6 packages succeeded!
[build] Ignored: None.
[build] Warnings: None.
[build] Abandoned: None.
[build] Failed: None.
[build] Runtime: 20.6 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.
编译成功后执行
source ~/catkin_ws/devel/setup.bash
rosrun gazebo_ros gazebo第一次执行会稍微慢一点其中可以
gedit ~/.bashrc
# 把setup.bash写入到其中
source ~/catkin_ws/devel/setup.bash
# 并保存这样以后使用就比较方便了. 下载模型并解压
unzip models.zip
cp -r models ~/.gazebo/models/MAVROS安装
sudo apt install ros-kinetic-mavros ros-kinetic-mavros-extras # for ros-kinetic
sudo apt install ros-melodic-mavros ros-melodic-mavros-extras # for ros-melodic
wget https://gitee.com/robin_shaun/XTDrone/raw/master/sitl_config/mavros/install_geographiclib_datasets.shsudo chmod ax ./install_geographiclib_datasets.sh
sudo ./install_geographiclib_datasets.sh #这步需要装一段时间sunxsunx-NBLK-WAX9X:~$ wget https://gitee.com/robin_shaun/XTDrone/raw/master/sitl_config/mavros/install_geographiclib_datasets.sh
--2023-05-07 21:09:40-- https://gitee.com/robin_shaun/XTDrone/raw/master/sitl_config/mavros/install_geographiclib_datasets.sh
正在解析主机 gitee.com (gitee.com)... 212.64.63.215, 212.64.63.190
正在连接 gitee.com (gitee.com)|212.64.63.215|:443... 已连接。
已发出 HTTP 请求正在等待回应... 200 OK
长度 1244 (1.2K) [text/plain]
正在保存至: “install_geographiclib_datasets.sh.1”install_geographicl 100%[] 1.21K --.-KB/s 用时 0s 2023-05-07 21:09:41 (164 MB/s) - 已保存 “install_geographiclib_datasets.sh.1” [1244/1244])sunxsunx-NBLK-WAX9X:~$ sudo chmod ax ./install_geographiclib_datasets.sh
sunxsunx-NBLK-WAX9X:~$ sudo ./install_geographiclib_datasets.sh #这步需要装一段时间
GeographicLib geoids dataset egm96-5 already exists, skipping
GeographicLib gravity dataset egm96 already exists, skipping
GeographicLib magnetic dataset emm2015 already exists, skippingsPX4配置
git clone https://github.com/PX4/PX4-Autopilot.git
mv PX4-Autopilot PX4_Firmware
cd PX4_Firmware
git checkout -b xtdrone/dev v1.11.0-beta1
git submodule update --init --recursive
make px4_sitl_default gazeboPX4安装可以参考该链接 完整安装PX4/PX4-Autopilot无需科学上网
报错c: internal compiler error: 已杀死 (program cc1plus)
c: internal compiler error: 已杀死 (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See file:///usr/share/doc/gcc-7/README.Bugs for instructions.
[47/100] Building CXX object CMakeFile...dir/src/gazebo_gst_camera_plugin.cpp.o
ninja: build stopped: subcommand failed.
[736/740] Linking CXX executable bin/px4
FAILED: external/Stamp/sitl_gazebo/sitl_gazebo-build
cd /home/sunx/PX4_Firmware/build/px4_sitl_default/build_gazebo /usr/bin/cmake --build .
ninja: build stopped: subcommand failed.
Makefile:198: recipe for target px4_sitl_default failed
make: *** [px4_sitl_default] Error 1空间不够大编译不了
执行命令
cd PX4_Firmware
make px4_sitl_default gazebo运行报错
Traceback (most recent call last):File /home/sunx/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model, line 34, in modulefrom tf.transformations import quaternion_from_eulerFile /opt/ros/melodic/lib/python2.7/dist-packages/tf/__init__.py, line 30, in modulefrom tf2_ros import TransformException as Exception, ConnectivityException, LookupException, ExtrapolationExceptionFile /opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/__init__.py, line 39, in modulefrom .buffer_interface import *File /opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/buffer_interface.py, line 32, in moduleimport roslib; roslib.load_manifest(tf2_ros)File /opt/ros/melodic/lib/python2.7/dist-packages/roslib/launcher.py, line 64, in load_manifestsys.path _generate_python_path(package_name, _rospack) sys.pathFile /opt/ros/melodic/lib/python2.7/dist-packages/roslib/launcher.py, line 97, in _generate_python_pathm rospack.get_manifest(pkg)File /usr/lib/python2.7/dist-packages/rospkg/rospack.py, line 171, in get_manifestreturn self._load_manifest(name)File /usr/lib/python2.7/dist-packages/rospkg/rospack.py, line 215, in _load_manifestretval self._manifests[name] parse_manifest_file(self.get_path(name), self._manifest_name, rospackself)File /usr/lib/python2.7/dist-packages/rospkg/manifest.py, line 414, in parse_manifest_file_static_rosdep_view init_rospack_interface()File /usr/lib/python2.7/dist-packages/rosdep2/rospack.py, line 60, in init_rospack_interfacelookup _get_default_RosdepLookup(Options())File /usr/lib/python2.7/dist-packages/rosdep2/main.py, line 136, in _get_default_RosdepLookupverboseoptions.verbose)File /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py, line 603, in create_defaultsources load_cached_sources_list(sources_cache_dirsources_cache_dir, verboseverbose)File /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py, line 560, in load_cached_sources_listraise CachePermissionError(Failed to write cache file: str(e))
rosdep2.core.CachePermissionError: Failed to write cache file: [Errno 13] Permission denied: /home/sunx/.ros/rosdep/sources.cache/index
[vehicle_spawn_sunx_NBLK_WAX9X_3023_4520051423393195513-5] process has died [pid 3101, exit code 1, cmd /home/sunx/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model -sdf -file /home/sunx/PX4_Firmware/Tools/sitl_gazebo/models/iris/iris.sdf -model iris -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0 __name:vehicle_spawn_sunx_NBLK_WAX9X_3023_4520051423393195513 __log:/home/sunx/.ros/log/b4e3907c-ece2-11ed-b9a4-28cdc497963d/vehicle_spawn_sunx_NBLK_WAX9X_3023_4520051423393195513-5.log].
log file: /home/sunx/.ros/log/b4e3907c-ece2-11ed-b9a4-28cdc497963d/vehicle_spawn_sunx_NBLK_WAX9X_3023_4520051423393195513-5*.log
解决方法
sudo rosdep fix-permissions运行命令
rostopic echo /mavros/state结果
XTDrone
对XTDrone进行配置因为之前已经下载了源码
cd XTDrone
git submodule update --init --recursive
cp sensing/gimbal/gazebo_gimbal_controller_plugin.cpp ~/PX4_Firmware/Tools/sitl_gazebo/src/
cp sitl_config/init.d-posix/rcS ~/PX4_Firmware/ROMFS/px4fmu_common/init.d-posix/
cp sitl_config/worlds/* ~/PX4_Firmware/Tools/sitl_gazebo/worlds/
cp -r sitl_config/models/* ~/PX4_Firmware/Tools/sitl_gazebo/models/
cp -r sitl_config/launch/* ~/PX4_Firmware/launch/
cd ~/.gazebo/models/
rm -r stereo_camera/ 3d_lidar/ 3d_gpu_lidar/ hokuyo_lidar/
参考链接ROS 遇到问题及解决——汇总
XTDorne平台搭建无人机仿真环境时遇到的问题及解决
ubuntu卸载已安装的包
