【PX4】解决roslaunch px4 multi_uav_mavros_sitl_sdf.launch失败的问题

【PX4】解决roslaunch px4 multi_uav_mavros_sitl_sdf.launch失败的问题

1. 问题描述

博主在成功配置px4-v1.12版本之后，没有做任何更改，想运行roslaunch px4 multi_uav_mavros_sitl_sdf.launch时，报错如下

sjh@sjhR9000X:~/PX4_Firmware/PX4-Autopilot$ roslaunch px4 multi_uav_mavros_sitl_sdf.launch
... logging to /home/sjh/.ros/log/99faee72-664a-11ee-af1f-738d79b8704b/roslaunch-sjhR9000X-10130.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.

RLException: while processing /home/sjh/PX4_Firmware/PX4-Autopilot/launch/single_vehicle_spawn_sdf.launch:
Invalid <param> tag: Cannot load command parameter [model_description]: no such command [['xmlstarlet', 'ed', '-d', '//plugin[@name="mavlink_interface"]/mavlink_tcp_port', '-s', '//plugin[@name="mavlink_interface"]', '-t', 'elem', '-n', 'mavlink_tcp_port', '-v', '4560', '/home/sjh/PX4_Firmware/PX4-Autopilot/Tools/sitl_gazebo/models/plane/plane.sdf']]. 

Param xml is <param command="$(arg cmd)" name="model_description"/>
The traceback for the exception was written to the log file

即提示没有xmlstarlet命令

2. 问题解决

提示我们没有xmlstarlet命令，我们安装一个即可

sudo apt install xmlstarlet 

安装成功后，我们再次启动

roslaunch px4 multi_uav_mavros_sitl_sdf.launch

效果如图所示，成功启动

Reference

参考1
参考2