配置faster-ground-robot踩坑记:
https://github.com/mit-acl/faster
大神的无地图路径规划方法,再配置的时候,用的环境是ubuntu16.04,ros-kinetic。
按照步骤安装时有一个步骤:
wstool merge ./faster/faster/install/faster_ground_robot.rosinstall
出现:
[behavior_selector,multi_jackal] still active
fatal: unable to access 'https://gitlab.com/mit-acl/fsw/behavior_selector.git/': Failed to connect to gitlab.com port 443: 拒绝连接
[multi_jackal] still active
无限重连,这里挂了全局梯子依然如此。如实寻找到:
faster_ground_robot.rosinstall文件,发现是一串地址:
- git:
local-name: multi_jackal
uri: git@github.com:mit-acl/multi_jackal.git
version: 2a919454d55bebe3b5395396e593ab09b302719f
将其中的ssh网址改成http形式:
uri: https://github.com/mit-acl/multi_jackal.git
再使用命令:
wstool merge ./faster/faster/install/faster_ground_robot.rosinstall
更新一下,在wstool update -j8
之后安装成功。
同理 faster.rosinstall中也是网址连不上的话,在github或者gitlab中fork到自己的账号下,改成自己的地址。
之后catkin build
出现:
Errors << faster:make /home/ysz/faster/logs/faster/build.make.000.log
make[2]: *** No rule to make target '/home/ysz/Downloads/gurobi902/linux64/lib/libgurobi81.so', needed by '/home/ysz/faster/devel/.private/faster/lib/faster/gurobi_continuous_exec'。 停止。
也就是将Cmakelists.txt中的gurobi配置lib改成所安装的版本(本人下的是gurobi9.02):gurobi902/linux64/lib/libgurobi90.so即可
之后删除faster目录下的build,devel,log,重新编译
仍然出现错误:
Errors << faster:make /home/ysz/faster/logs/faster/build.make.000.log
CMakeFiles/gurobi_discrete_exec.dir/gurobi_discrete.cpp.o:在函数‘main’中:
gurobi_discrete.cpp:(.text.startup+0x74):对‘GRBModel::set(GRB_StringAttr, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)’未定义的引用
对应英文在原github上有提到:
“gurobi_continuous.cpp:(.text.startup+0x74): undefined reference to
`GRBModel::set(GRB_StringAttr, std::__cxx11::basic_string<char,
std::char_traits<char>, std::allocator<char> > const&)'”
The solution is:
cd /opt/gurobi800/linux64/src/build #Note that the name of the folder gurobi800 changes according to the Gurobi version
sudo make
sudo cp libgurobi_c++.a ../../lib/
我的是9.02,对应改为gurobi902,且此目录为你解压的gurobi目录!原作者是opt里,我是直接解压在了downloads里了,对应目录:home/Downloads/ gurobi800/linux64/src/build
sudo make完成后出现:
之后
sudo cp libgurobi_c++.a ../../lib/
再次返回faster文件夹编译