PX4编译报错

第一个报错是cmake版本太低，要进行升级，但是查询到的是不要卸载cmake，不然会将使用cmake编译过的内容都清除掉，所以直接安装了一个高版本的，使用软连接进行替换，参考如下：

Ubuntu 升级cmake 版本-CSDN博客

ubuntu20.04安装PX4报错：

 查询的说是protobuf版本问题，Gazebo SITL : fatal error: google/protobuf/port_def.inc: No such file or directory · Issue #16242 · PX4/PX4-Autopilot · GitHub

使用命令：

apt list --installed

参考：Ubuntu下如何查看已安装软件版本_ubuntu 查看软件版本-CSDN博客

应该是3.6.1，但是我的版本就是3.6.1；排除

查看PX4版本，是1.14还是1.13，没办法，直接rm，然后重新clone了。

重新clone后，运行命令

make px4_sitl gazebo-classic

还是报错，具体错误忘记记录了。

然后清理make出来的内容：

make clean
make distclean

 GIT Examples | PX4 User Guide (main)

 想到是不是PX4版本的问题，前面在ubuntu22.04上使用的master版本的编译没有问题，20.04版本可能不能使用最新的？？

切换版本：git checkout v1.14.0

同步子模块：make submodulesclean

然后继续编译；

 报错如下，其实前面也这样报错了，但是没有想到是qt库的原因，找到文件夹/usr/lib/x86_64-linux-gnu/发现有libEGL.so.1，但是没有libEGL.so。

-- Found GStreamer: GSTREAMER_INCLUDE_DIRS;GSTREAMER_LIBRARIES;GSTREAMER_VERSION;GSTREAMER_BASE_INCLUDE_DIRS;GSTREAMER_BASE_LIBRARIES (Required is at least version "1.0") 
CMake Error at /usr/lib/x86_64-linux-gnu/cmake/Qt5Gui/Qt5GuiConfig.cmake:27 (message):
  The imported target "Qt5::Gui" references the file

     "/usr/lib/x86_64-linux-gnu/libEGL.so"

  but this file does not exist.  Possible reasons include:

  * The file was deleted, renamed, or moved to another location.

  * An install or uninstall procedure did not complete successfully.

  * The installation package was faulty and contained

     "/usr/lib/x86_64-linux-gnu/cmake/Qt5Gui/Qt5GuiConfigExtras.cmake"

  but not all the files it references.

Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/Qt5Gui/Qt5GuiConfigExtras.cmake:45 (_qt5_Gui_check_file_exists)
  /usr/lib/x86_64-linux-gnu/cmake/Qt5Gui/Qt5GuiConfigExtras.cmake:67 (_qt5gui_find_extra_libs)
  /usr/lib/x86_64-linux-gnu/cmake/Qt5Gui/Qt5GuiConfig.cmake:186 (include)
  /usr/lib/x86_64-linux-gnu/cmake/Qt5Widgets/Qt5WidgetsConfig.cmake:101 (find_package)
  /usr/lib/x86_64-linux-gnu/cmake/Qt5/Qt5Config.cmake:28 (find_package)
  CMakeLists.txt:88 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/linuxin/PX4_projects/PX4-Autopilot/build/px4_sitl_default/build_gazebo-classic/CMakeFiles/CMakeOutput.log".
See also "/home/linuxin/PX4_projects/PX4-Autopilot/build/px4_sitl_default/build_gazebo-classic/CMakeFiles/CMakeError.log".
[134/903] Building CXX object msg/CMakeFiles/uorb_msgs.dir/topics_sources/normalized_unsigned_setpoint.cpp.o
FAILED: external/Stamp/sitl_gazebo-classic/sitl_gazebo-classic-configure /home/linuxin/PX4_projects/PX4-Autopilot/build/px4_sitl_default/external/Stamp/sitl_gazebo-classic/sitl_gazebo-classic-configure 
cd /home/linuxin/PX4_projects/PX4-Autopilot/build/px4_sitl_default/build_gazebo-classic && /opt/cmake-3.22.0-rc1/bin/cmake -DCMAKE_INSTALL_PREFIX=/usr/local -DSEND_ODOMETRY_DATA=ON -DGENERATE_ROS_MODELS=ON -GNinja /home/linuxin/PX4_projects/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic && /opt/cmake-3.22.0-rc1/bin/cmake -E touch /home/linuxin/PX4_projects/PX4-Autopilot/build/px4_sitl_default/external/Stamp/sitl_gazebo-classic/sitl_gazebo-classic-configure
[142/903] Generating uORB topic ucdr headers
ninja: build stopped: subcommand failed.
make: *** [Makefile:232：px4_sitl] 错误 1

需要修改库文件的软连接；

命令：sudo ln /usr/lib/x86_64-linux-gnu/libEGL.so.1 /usr/lib/x86_64-linux-gnu/libEGL.so

参考：PX4 avoidance 功能包编译问题_/usr/lib/x86_64-linux-gnu/libegl.so" but this file-CSDN博客

 libEGL.so的报错消失了，又出现libGL.so的报错，继续修改；

命令：sudo ln /usr/lib/x86_64-linux-gnu/libGL.so.1 /usr/lib/x86_64-linux-gnu/libGL.so

 

终于没有qt库的报错了，又出现新的报错，看着是clone的问题，应该是网络的原因，多试几次：

FAILED: src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-build src/modules/uxrce_dds_client/lib/libmicroxrcedds_client.a src/modules/uxrce_dds_client/lib/libmicrocdr.a /home/linuxin/PX4_projects/PX4-Autopilot/build/px4_sitl_default/src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-build /home/linuxin/PX4_projects/PX4-Autopilot/build/px4_sitl_default/src/modules/uxrce_dds_client/lib/libmicroxrcedds_client.a /home/linuxin/PX4_projects/PX4-Autopilot/build/px4_sitl_default/src/modules/uxrce_dds_client/lib/libmicrocdr.a 
cd /home/linuxin/PX4_projects/PX4-Autopilot/build/px4_sitl_default/src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-build && /opt/cmake-3.22.0-rc1/bin/cmake -P /home/linuxin/PX4_projects/PX4-Autopilot/build/px4_sitl_default/src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-build-RelWithDebInfo.cmake && /opt/cmake-3.22.0-rc1/bin/cmake -E touch /home/linuxin/PX4_projects/PX4-Autopilot/build/px4_sitl_default/src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-build
CMake Error at /home/linuxin/PX4_projects/PX4-Autopilot/build/px4_sitl_default/src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-build-RelWithDebInfo.cmake:37 (message):
  Command failed: 1

   '/opt/cmake-3.22.0-rc1/bin/cmake' '--build' '.'

  See also

    /home/linuxin/PX4_projects/PX4-Autopilot/build/px4_sitl_default/src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-build-*.log


-- stdout output is:
[1/16] Creating directories for 'microcdr'
[2/16] Performing download step (git clone) for 'microcdr'
FAILED: microcdr/src/microcdr-stamp/microcdr-download /home/linuxin/PX4_projects/PX4-Autopilot/build/px4_sitl_default/src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-build/microcdr/src/microcdr-stamp/microcdr-download 
cd /home/linuxin/PX4_projects/PX4-Autopilot/build/px4_sitl_default/src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-build/microcdr/src && /opt/cmake-3.22.0-rc1/bin/cmake -P /home/linuxin/PX4_projects/PX4-Autopilot/build/px4_sitl_default/src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-build/microcdr/tmp/microcdr-gitclone.cmake && /opt/cmake-3.22.0-rc1/bin/cmake -E touch /home/linuxin/PX4_projects/PX4-Autopilot/build/px4_sitl_default/src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-build/microcdr/src/microcdr-stamp/microcdr-download
正克隆到 'microcdr'...
fatal: 无法访问 'https://github.com/eProsima/Micro-CDR.git/'：GnuTLS recv error (-110): The TLS connection was non-properly terminated.
正克隆到 'microcdr'...
fatal: 无法访问 'https://github.com/eProsima/Micro-CDR.git/'：Failed to connect to github.com port 443: 连接超时
正克隆到 'microcdr'...
fatal: 无法访问 'https://github.com/eProsima/Micro-CDR.git/'：Failed to connect to github.com port 443: 连接超时
-- Had to git clone more than once:
          3 times.
CMake Error at /home/linuxin/PX4_projects/PX4-Autopilot/build/px4_sitl_default/src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-build/microcdr/tmp/microcdr-gitclone.cmake:31 (message):
  Failed to clone repository: 'https://github.com/eProsima/Micro-CDR.git'


ninja: build stopped: subcommand failed.

-- stderr output is:

CMake Error at /home/linuxin/PX4_projects/PX4-Autopilot/build/px4_sitl_default/src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-build-RelWithDebInfo.cmake:47 (message):
  Stopping after outputting logs.


ninja: build stopped: subcommand failed.
make: *** [Makefile:232：px4_sitl] 错误 1

最后终于编译成功了

 但是gazebo只有6帧，好低阿！