配置Prometheus环境
下载依赖包
sudo apt-get install ros-melodic-rtabmap*
sudo apt-get install ros-melodic-octomap-*
sudo apt-get install ros-melodic-cartographer*
安装非线性优化工具箱 NLopt并编译(可选)
git clone https://github.com/stevengj/nlopt.git
cd nlopt
mkdir build
cd build
cmake ..
make
sudo make install
下载Prometheus项目并编译
git clone https://github.com/amov-lab/Prometheus
#环境变量配置
gedit .bashrc
source ~/Prometheus/devel/setup.bash
#编译
cd Prometheus
sudo chmod 777 ./compile_all.sh (第一次运行才需要执行此赋权命令)
./compile_all.sh
#或者只编译ego代码
./compile_ego.sh
使修改的bashrc生效
source ~/.bashrc
Modules 各模块功能的源代码
Simulator 仿真飞行相关代码
Experiment 真实飞行相关代码
配置px4环境
下载px4固件
git clone https://gitee.com/amovlab/prometheus_px4.git
cd prometheus_px4
git submodule update --init --recursive
pip3 install --user toml empy jinja2 packaging
make amovlab_sitl_default gazebo
PX4编译环境安装(第一次安装PX4环境需要运行)
cd prometheus_px4/Tools/setup
## 请在运行此脚本时注意终端的打印信息,保证每一项均顺利安装
## 这一步问题最多,一定仔细检查是否正确安装!!!
## 若有某一项失败或一直卡住,请重新运行即可!
source ./ubuntu.sh
若报错则换源(在./ubuntu.sh对应报错部分修改)
pip install 包名 -i http://pypi.douban.com/simple/ --trusted-host pypi.douban.com
环境变量配置
sudo gedit ~/.bashrc
#加入
source ${your prometheus path}/Prometheus/devel/setup.bash
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${your prometheus path}/Prometheus/devel/lib
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${your prometheus path}/Prometheus/Simulator/gazebo_simulator/models
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${your prometheus path}/Prometheus/Simulator/gazebo_simulator/amov_models
source ${your px4 path}/prometheus_px4/Tools/setup_gazebo.bash ${your px4 path}/prometheus_px4 ${your px4 path}/prometheus_px4/build/amovlab_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${your px4 path}/prometheus_px4
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${your px4 path}/prometheus_px4/Tools/sitl_gazebo
仿真插件安装
sudo apt-get install ros-melodic-velodyne-gazebo-plugins
sudo apt-get install ros-melodic-octomap-rviz-plugins
sudo apt-get install ros-melodic-turtlebot3-*
Gazebo模型库下载
cd ~/.gazebo/
## 如果之前没有models文件夹的话,创建models文件夹
mkdir -p models
cd ~/.gazebo/models/
## 这个仓库是从官方仓库(https://github.com/osrf/gazebo_models)复制过来的,会定期更新
git clone https://gitee.com/potato77/gazebo_models
Prometheus仿真功能包编译
cd Prometheus
./compile_gazebo.sh
Gazebo仿真运行测试
roslaunch prometheus_gazebo sitl.launch
仿真环境下实现ego-planner项目
cd Prometheus
## 编译
./compile_ego.sh
## 运行
./ego_test.sh
Missing model.config for model “/home/tju/.gazebo/models/gazebo_models”
原因: 关闭的过程中有些Gazebo的程序没有完全关闭,导致再次启动时,无法正常开启。
所以,解决方法也很简单,只要把gazebo的相关程序关闭即可。
用如下指令:
killall gzserver