ROS无人机仿真rotor_simulations配置篇

电脑配置

Ubuntu 16.04+ROS kinetic

 

相关背景

我最近看到github上已经有大牛把rotor_simulation代码放出来了，想用来仿真学习一下无人机，但是苦于配置问题困扰了一段时间，最近跑通了分享一下配置的方法和遇到配置问题的解决办法。

 

准备工作

1. 下载好ROS相关功能包、wstool、catkin-tools.

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
$ wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
$ sudo apt-get update
$ sudo apt-get install ros-kinetic-joy ros-kinetic-octomap-ros ros-kinetic-mavlink python-wstool python-catkin-tools protobuf-compiler libgoogle-glog-dev ros-kinetic-control-toolbox
$ sudo rosdep init
$ rosdep update
$ source /opt/ros/kinetic/setup.bash

2. 在一个src文件夹中编译（文件夹可以自己定，这里以初学者catkin_ws的为例）

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace  # initialize your catkin workspace
$ wstool init
$ wget https://raw.githubusercontent.com/ethz-asl/rotors_simulator/master/rotors_hil.rosinstall
$ wstool merge rotors_hil.rosinstall
$ wstool update

3. 用python_catkin_tools编译你的工作空间

$ cd ~/catkin_ws/
$ catkin build

如果没有python_catkin_tools，先执行下面一步配置，然后在执行上面操作

sudo apt-get install python-catkin-tools 

4. 添加路径（如果是在catkin_ws一般都有添加过了，可以不用这一步骤）

永久添加

$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

参考资料

https://github.com/ethz-asl/rotors_simulator

 

编译过程中各种可能出现问题以及解决方法

（本过程涉及到修改文件的，其具体路径请参照错误提示的查找）

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

 

参考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 加入代码

#include 
#include 
#ifndef MAVLINK_H
  typedef mavlink::mavlink_message_t mavlink_message_t;
  #include 
#endif
#include 
namespace rotors_hil {

具体添加的代码是上面的第3~6段，列出周围行代码方便找位置。

参考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);

将odom.cpp的234行注释掉

//ftf::covariance_urt_to_mavlink(cov_vel_map, msg.twist_covariance);

如果要使用此cpp再具体解决

 

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.

删除build文件夹里面的

rotors_gazebo_plugins

重新编译

参考https://blog.csdn.net/qq_27474467/article/details/80506882

 

 

参考资料

https://blog.csdn.net/qq_38019633/article/details/84074442