【XTDrone Ubuntu18.04】XTDrone + Ubuntu18.04 + PX4 安装过程
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 pyulog==0.7.0 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-data
gir1.2-harfbuzz-0.0 google-mock googletest hdf5-helpers ibverbs-providers
icu-devtools libaec-dev libaec0 libapr1 libapr1-dev libaprutil1
libaprutil1-dev libarmadillo-dev libarmadillo8 libarpack2 libarpack2-dev
libassuan-dev libavcodec-dev libavdevice-dev libavdevice57 libavfilter-dev
libavformat-dev libavresample-dev libavutil-dev libblas-dev libblas3
libboost-all-dev libboost-atomic-dev libboost-atomic1.65-dev
libboost-atomic1.65.1 libboost-chrono-dev libboost-chrono1.65-dev
libboost-chrono1.65.1 libboost-container-dev libboost-container1.65-dev
libboost-container1.65.1 libboost-context-dev libboost-context1.65-dev
libboost-context1.65.1 libboost-coroutine-dev libboost-coroutine1.65-dev
libboost-coroutine1.65.1 libboost-date-time-dev libboost-date-time1.65-dev
libboost-dev libboost-exception-dev libboost-exception1.65-dev
libboost-fiber-dev libboost-fiber1.65-dev libboost-fiber1.65.1
libboost-filesystem-dev libboost-filesystem1.65-dev libboost-graph-dev
libboost-graph-parallel-dev libboost-graph-parallel1.65-dev
libboost-graph-parallel1.65.1 libboost-graph1.65-dev libboost-graph1.65.1
libboost-iostreams-dev libboost-iostreams1.65-dev libboost-locale-dev
libboost-locale1.65-dev libboost-log-dev libboost-log1.65-dev
libboost-log1.65.1 libboost-math-dev libboost-math1.65-dev
libboost-math1.65.1 libboost-mpi-dev libboost-mpi-python-dev
libboost-mpi-python1.65-dev libboost-mpi-python1.65.1 libboost-mpi1.65-dev
libboost-mpi1.65.1 libboost-numpy-dev libboost-numpy1.65-dev
libboost-numpy1.65.1 libboost-program-options-dev
libboost-program-options1.65-dev libboost-program-options1.65.1
libboost-python-dev libboost-python1.65-dev libboost-python1.65.1
libboost-random-dev libboost-random1.65-dev libboost-random1.65.1
libboost-regex-dev libboost-regex1.65-dev libboost-regex1.65.1
libboost-serialization-dev libboost-serialization1.65-dev
libboost-serialization1.65.1 libboost-signals-dev libboost-signals1.65-dev
libboost-signals1.65.1 libboost-stacktrace-dev libboost-stacktrace1.65-dev
libboost-stacktrace1.65.1 libboost-system-dev libboost-system1.65-dev
libboost-test-dev libboost-test1.65-dev libboost-test1.65.1
libboost-thread-dev libboost-thread1.65-dev libboost-timer-dev
libboost-timer1.65-dev libboost-timer1.65.1 libboost-tools-dev
libboost-type-erasure-dev libboost-type-erasure1.65-dev
libboost-type-erasure1.65.1 libboost-wave-dev libboost-wave1.65-dev
libboost-wave1.65.1 libboost1.65-dev libboost1.65-tools-dev libbullet-dev
libbullet2.87 libbz2-dev libconsole-bridge-dev libconsole-bridge0.4
libcurl4-openssl-dev libdap-dev libdap25 libdapclient6v5 libdapserver7v5
libdrm-dev libegl1-mesa-dev libepsilon-dev libepsilon1 libexpat1-dev
libfabric1 libfreeimage-dev libfreeimage3 libfreexl-dev libfreexl1
libfyba-dev libfyba0 libgdal-dev libgdal20 libgeos-3.6.2 libgeos-c1v5
libgeos-dev libgeotiff-dev libgeotiff2 libgfortran4 libgif-dev libgif7
libgl1-mesa-dev libgles1 libgles2-mesa-dev libglib2.0-dev libglib2.0-dev-bin
libglu1-mesa-dev libglvnd-core-dev libglvnd-dev libgpg-error-dev
libgpgme-dev libgraphite2-dev libgtest-dev libgts-dev libharfbuzz-dev
libharfbuzz-gobject0 libhdf4-0-alt libhdf4-alt-dev libhdf5-100
libhdf5-cpp-100 libhdf5-dev libhwloc-dev libhwloc-plugins libhwloc5
libibverbs-dev libibverbs1 libice-dev libicu-dev libicu-le-hb-dev
libicu-le-hb0 libiculx60 libignition-common libignition-fuel-tools1-1
libignition-math4 libignition-msgs libignition-transport4 libjbig-dev
libjpeg-dev libjpeg-turbo8-dev libjpeg8-dev libjson-c-dev libjsoncpp-dev
libjxr0 libkml-dev libkmlbase1 libkmlconvenience1 libkmldom1 libkmlengine1
libkmlregionator1 libkmlxsd1 liblapack-dev liblapack3 libldap2-dev
liblog4cxx-dev liblog4cxx10v5 libltdl7:i386 liblz4-dev liblzma-dev
libminizip-dev libminizip1 libmysqlclient-dev libmysqlclient20 libnetcdf-dev
libnetcdf13 libnl-route-3-200 libnuma-dev libodbc1 libogdi3.2 libogdi3.2-dev
libogre-1.9-dev libogre-1.9.0v5 libopenblas-base libopengl0 libopenjp2-7-dev
libopenmpi-dev libopenmpi2 liborc-0.4-dev liborc-0.4-dev-bin libpcre16-3
libpcre3-dev libpcre32-3 libpcrecpp0v5 libpng-dev libpng-tools libpoco-dev
libpococrypto50 libpocodata50 libpocodatamysql50 libpocodataodbc50
libpocodatasqlite50 libpocofoundation50 libpocojson50 libpocomongodb50
libpoconet50 libpoconetssl50 libpocoredis50 libpocoutil50 libpocoxml50
libpocozip50 libpoppler-dev libpoppler-private-dev libpostproc-dev libpq-dev
libpq5 libproj-dev libproj12 libprotobuf-dev libprotobuf-lite10
libprotoc-dev libprotoc10 libpsm-infinipath1 libpthread-stubs0-dev
libpython-all-dev libpython-dev libpython2.7-dev libpython3-dev
libpython3.6-dev libqhull-dev libqhull-r7 libqhull7 libqt5concurrent5
libqt5designer5 libqt5opengl5 libqt5opengl5-dev libqt5sql5 libqt5sql5-sqlite
libqt5test5 libqwt-headers libqwt-qt5-6 libqwt-qt5-dev librdmacm1
libsctp-dev libsctp1 libsdformat6 libsdl2-2.0-0 libsimbody-dev
libsimbody3.5v5 libsm-dev libspatialite-dev libspatialite7 libspnav0
libsqlite3-dev libssl-dev libsuperlu-dev libsuperlu5 libswresample-dev
libswscale-dev libsz2 libtar-dev libtar0 libtbb-dev libtbb2 libtiff-dev
libtiff5-dev libtiffxx5 libtinyxml-dev libtinyxml2-6 libtinyxml2-dev
libtinyxml2.6.2v5 liburdfdom-dev liburdfdom-headers-dev liburdfdom-model
liburdfdom-model-state liburdfdom-sensor liburdfdom-world liburiparser-dev
liburiparser1 libusb-1.0-0-dev libusb-1.0-doc libwayland-bin libwayland-dev
libwebp-dev libwxbase3.0-0v5 libwxgtk3.0-gtk3-0v5 libx11-dev libx11-doc
libx11-xcb-dev libxau-dev libxcb-dri2-0-dev libxcb-dri3-dev libxcb-glx0-dev
libxcb-present-dev libxcb-randr0-dev libxcb-render0-dev libxcb-shape0-dev
libxcb-sync-dev libxcb-xfixes0-dev libxcb1-dev libxdamage-dev libxdmcp-dev
libxerces-c-dev libxerces-c3.2 libxext-dev libxfixes-dev libxi-dev
libxml2-dev libxmu-dev libxmu-headers libxshmfence-dev libxt-dev
libxxf86vm-dev libyaml-cpp-dev libyaml-cpp0.5v5 libyaml-dev libzip-dev
libzip4 libzmq3-dev linux-headers-5.4.0-146-generic
linux-hwe-5.4-headers-5.4.0-146 linux-image-5.4.0-146-generic
linux-modules-5.4.0-146-generic linux-modules-extra-5.4.0-146-generic
mesa-common-dev mpi-default-bin mpi-default-dev mysql-common odbcinst:i386
odbcinst1debian2 odbcinst1debian2:i386 openmpi-bin openmpi-common pkg-config
proj-data python-all python-all-dev python-asn1crypto python-cffi-backend
python-crypto python-cryptography python-dbus python-defusedxml python-dev
python-empy python-enum34 python-gi python-gnupg python-idna
python-ipaddress python-keyring python-keyrings.alt python-netifaces
python-nose python-numpy python-paramiko python-pip-whl python-pyasn1
python-pycryptodome python-rospkg python-secretstorage python-wheel
python-wxgtk3.0 python-wxtools python-wxversion python-xdg python2.7-dev
python3-catkin-pkg-modules python3-dev python3-pyparsing python3-wheel
python3.6-dev qt5-qmake qt5-qmake-bin qtbase5-dev qtbase5-dev-tools
qtchooser sdformat-sdf ttf-dejavu-core unixodbc-dev uuid-dev
x11proto-core-dev x11proto-damage-dev x11proto-dev x11proto-fixes-dev
x11proto-input-dev x11proto-xext-dev x11proto-xf86vidmode-dev
xorg-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 1.14.13
SUMMARY
========
PARAMETERS
* /rosdistro: melodic
* /rosversion: 1.14.13
NODES
auto-starting new master
process[master]: started with pid [15516]
ROS_MASTER_URI=http://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-tools（sudo 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 --recursive
step-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.list'
You can check to see if the file was written correctly.
cat /etc/apt/sources.list.d/gazebo-stable.list
setup keys
wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
update the debian database
sudo apt-get update
Next 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：
sunx@sunx-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-fds=3,4 -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 bs=64M count=32 #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*count=1024MB（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.sh
sudo chmod a+x ./install_geographiclib_datasets.sh
sudo ./install_geographiclib_datasets.sh #这步需要装一段时间
sunx@sunx-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])
sunx@sunx-NBLK-WAX9X:~$ sudo chmod a+x ./install_geographiclib_datasets.sh
sunx@sunx-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, skippings
PX4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 gazebo
PX4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 <module>
from tf.transformations import quaternion_from_euler
File "/opt/ros/melodic/lib/python2.7/dist-packages/tf/__init__.py", line 30, in <module>
from tf2_ros import TransformException as Exception, ConnectivityException, LookupException, ExtrapolationException
File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/__init__.py", line 39, in <module>
from .buffer_interface import *
File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/buffer_interface.py", line 32, in <module>
import roslib; roslib.load_manifest('tf2_ros')
File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/launcher.py", line 64, in load_manifest
sys.path = _generate_python_path(package_name, _rospack) + sys.path
File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/launcher.py", line 97, in _generate_python_path
m = rospack.get_manifest(pkg)
File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 171, in get_manifest
return self._load_manifest(name)
File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 215, in _load_manifest
retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name, rospack=self)
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_interface
lookup = _get_default_RosdepLookup(Options())
File "/usr/lib/python2.7/dist-packages/rosdep2/main.py", line 136, in _get_default_RosdepLookup
verbose=options.verbose)
File "/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py", line 603, in create_default
sources = load_cached_sources_list(sources_cache_dir=sources_cache_dir, verbose=verbose)
File "/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py", line 560, in load_cached_sources_list
raise 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