复现编译遇到问题（ubuntu16.04）

1、OMPLConfig.cmake

ompl-config.cmake

解决方法：

sudo apt-get install ros-kinetic-ompl*

2、quadrotor_msgsConfig.cmake

quadrotor_msgs-config.cmake

解决方法：

(1)~/catkin_ws/src$ git clone git://github.com/jchenbr/quadrotor_msgs.git
(2)~/catkin_ws$ catkin_make --pkg quadrotor_msgs

3、bspline_optConfig.cmake

bspline_opt-config.cmake

解决方法：

https://github.com/HKUST-Aerial-Robotics/Fast-Planner

git clone https://github.com/HKUST-Aerial-Robotics/Fast-Planner.git

cd ../

catkin_make

下载编译即可

遇到plan-envConfig.cmake,plan-env-config.cmake解决方法如上。

 4、No package 'libopenni2' found

解决方法：

sudo apt-get install libopenni2-dev

5、nlopt.hpp没有那个文件或目录

sudo apt-get install ros-kinetic-nlopt

6、 error: 'Any' is not a member of 'gazebo::msgs'

原因：gazebo版本低，进行升级即可

解决方法：

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/gazebo-stable.list'
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
sudo apt update
sudo apt upgrade

7、error : sdf/sdf.hh: No such file or directory

报错原因：库路径问题

解决方法：

sudo gedit ~/.bashrc

 在打开的文件中添加两行:

export GAZEBO_INCLUDE_DIRS=$GAZEBO_INCLUDE_DIRS:/usr/include/sdformat-4.4
export GAZEBO_LIBRARY_DIRS=$GAZEBO_LIBRARY_DIRS:/usr/lib/lib/x86_64-linux-gnu

保存后退出

再运行：

source ~/.bashrc

注意：其中的/usr/include/sdformat-4.4，4.4为相应版本，打开/usr/include/即可看到

8、Error:Could not find a package configuration file provided by “gazebo_plugins“

解决方法：

sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control

9、复现运行步骤

1、~/catkin_ws$
source devel/setup.bash
2、~/catkin_ws$
roslaunch '/home/lab/catkin_ws/src/rotors_simulator/rotors_gazebo/launch/mav_path_plan.launch'
3、rosrun path_planning path_planning_21_change18