PX4 avoidance ubuntu 20.04搭建问题

1. os-noetic-octomap-mapping找不到

需要添加阿里源，再apt update->apt upgrade

deb https://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
deb-src https://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse

deb https://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
deb-src https://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse

deb https://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
deb-src https://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse

# deb https://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse
# deb-src https://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse

deb https://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
deb-src https://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
 

2. raw.githubusercontent.com 域名无法解析：

    在/etc/hosts中加上185.199.110.133 raw.githubusercontent.com

3. ERROR: pandas 2.0.3 has requirement numpy>=1.20.3; python_version < "3.10", but you'll have numpy 1.17.4 which is incompatible.

暂时未去解决，不影响结果

4. Resource not found: px4

请保证~/.bashrc文件中包含以下配置：

source /opt/ros/noetic/setup.bash
source ~/catkin_ws/devel/setup.bash
. ~/Firmware/Tools/simulation/gazebo-classic/setup_gazebo.bash ~/Firmware ~/Firmware/build/px4_sitl_default
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:~/catkin_ws/src/avoidance/avoidance/sim/models:~/catkin_ws/src/avoidance/avoidance/sim/worlds
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/Firmware

4.执行sudo apt install libpcl1 ros-noetic-octomap-*失败

E: Unable to locate package ros-noetic-octomap-*sudo
E: Couldn't find any package by glob 'ros-noetic-octomap-*sudo'
E: Unable to locate package install

解决方案：

(1) 使用命令查看以ros_noetic_octomap开头的所有软件包：

td@spirit:~$ apt-cache search os-noetic-octomap-*
ros-noetic-octomap - The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++.
ros-noetic-octomap-dbgsym - debug symbols for ros-noetic-octomap
ros-noetic-octomap-mapping - Mapping tools to be used with the OctoMap library, implementing a 3D occupancy grid mapping.
ros-noetic-octomap-msgs - This package provides messages and serializations / conversion for the OctoMap library.
ros-noetic-octomap-ros - octomap_ros provides conversion functions between ROS and OctoMap's native types.
ros-noetic-octomap-ros-dbgsym - debug symbols for ros-noetic-octomap-ros
ros-noetic-octomap-rviz-plugins - A set of plugins for displaying occupancy information decoded from binary octomap messages.
ros-noetic-octomap-rviz-plugins-dbgsym - debug symbols for ros-noetic-octomap-rviz-plugins
ros-noetic-octomap-server - octomap_server loads a 3D map (as Octree-based OctoMap) and distributes it to other nodes in a compact binary format.
ros-noetic-octomap-server-dbgsym - debug symbols for ros-noetic-octomap-server

(2) 依次安装所有软件包

sudo apt install libpcl1 ros-noetic-octomap ros-noetic-octomap-dbgsym ros-noetic-octomap-mapping ros-noetic-octomap-msgs ros-noetic-octomap-ros ros-noetic-octomap-ros-dbgsym ros-noetic-octomap-rviz-plugins ros-noetic-octomap-rviz-plugins-dbgsym ros-noetic-octomap-server

无法使用catkin编译

The catkin CMake module was not found-CSDN博客