小菜鸟第一次装这么复杂的项目,作者的源代码教程不是非常详细,安装运行过程中出了许多问题,事到如今还是决定记录一下,相同的问题再次出现也好有个参考。
一、roslaunch cerlab_uav uav_simulation_dynamic_tree.launch遇到的问题
该命令用于安装配置完毕后,启动仿真(环境为树)
遇到的问题:进程sitl启动失败,导致整个仿真系统关闭
process[transform_broadcast-7]: started with pid [15517]
================================================================================REQUIRED process [sitl-1] has died!
process has died [pid 15503, exit code 255, cmd /home/elsa/PX4-Autopilot/build/px4_sitl_default/bin/px4 /home/elsa/PX4-Autopilot/build/px4_sitl_default/etc -s etc/init.d-posix/rcS __name:=sitl __log:=/home/elsa/.ros/log/091c0b9e-2868-11ef-9784-57f841552ac5/sitl-1.log].
log file: /home/elsa/.ros/log/091c0b9e-2868-11ef-9784-57f841552ac5/sitl-1*.log
Initiating shutdown!
================================================================================
process[cameraLink_baseLink-8]: started with pid [15523]
RLException: cannot add process [motion1-9] after process monitor has been shut down
The traceback for the exception was written to the log file
[cameraLink_baseLink-8] killing on exit
[transform_broadcast-7] killing on exit
[map_odom-6] killing on exit
[mavros-5] killing on exit
[vehicle_spawn_elsa_virtual_machine_15481_8364355643835328972-4] killing on exit
[gazebo_gui-3] killing on exit
[gazebo-2] killing on exit
[sitl-1] killing on exit
Traceback (most recent call last):
File "/opt/ros/noetic/bin/catkin_find", line 12, in <module>
Traceback (most recent call last):
File "/opt/ros/noetic/bin/catkin_find", line 12, in <module>
from catkin.find_in_workspaces import find_in_workspaces # noqa: E402
File "/opt/ros/noetic/lib/python3/dist-packages/catkin/find_in_workspaces.py", line 39, in <module>
from catkin_pkg.packages import find_packages
File "/usr/lib/python3/dist-packages/catkin_pkg/packages.py", line 38, in <module>
from catkin.find_in_workspaces import find_in_workspaces # noqa: E402
File "/opt/ros/noetic/lib/python3/dist-packages/catkin/find_in_workspaces.py", line 39, in <module>
from catkin_pkg.packages import find_packages
from .package import _get_package_xml
File "/usr/lib/python3/dist-packages/catkin_pkg/package.py", line 44, in <module>
File "/usr/lib/python3/dist-packages/catkin_pkg/packages.py", line 38, in <module>
from .package import _get_package_xml
File "/usr/lib/python3/dist-packages/catkin_pkg/package.py", line 44, in <module>
from catkin_pkg.condition import evaluate_condition
File "/usr/lib/python3/dist-packages/catkin_pkg/condition.py", line 17, in <module>
from catkin_pkg.condition import evaluate_condition
File "/usr/lib/python3/dist-packages/catkin_pkg/condition.py", line 17, in <module>
Traceback (most recent call last):
File "/opt/ros/noetic/lib/gazebo_ros/spawn_model", line 20, in <module>
import rospy
File "/opt/ros/noetic/lib/python3/dist-packages/rospy/__init__.py", line 47, in <module>
from std_msgs.msg import Header
File "/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/__init__.py", line 1, in <module>
from ._Bool import *
File "/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/_Bool.py", line 6, in <module>
import genpy
File "/opt/ros/noetic/lib/python3/dist-packages/genpy/__init__.py", line 34, in <module>
from . message import Message, SerializationError, DeserializationError, MessageException, struct_I
File "/opt/ros/noetic/lib/python3/dist-packages/genpy/message.py", line 46, in <module>
import genmsg
File "/opt/ros/noetic/lib/python3/dist-packages/genmsg/__init__.py", line 33, in <module>
from . base import MSG_DIR, SRV_DIR, EXT_MSG, EXT_SRV, SEP, log, plog, InvalidMsgSpec, log_verbose, MsgGenerationException
File "/opt/ros/noetic/lib/python3/dist-packages/genmsg/base.py", line 52, in <module>
import inspect, pprint
File "<frozen importlib._bootstrap>", line 991, in _find_and_load
File "<frozen importlib._bootstrap>", line 975, in _find_and_load_unlocked
File "<frozen importlib._bootstrap>", line 671, in _load_unlocked
File "<frozen importlib._bootstrap_external>", line 844, in exec_module
File "<frozen importlib._bootstrap_external>", line 976, in get_code
File "<frozen importlib._bootstrap_external>", line 640, in _compile_bytecode
KeyboardInterrupt
import pyparsing as pp
File "/usr/lib/python3/dist-packages/pyparsing.py", line 6343, in <module>
anyOpenTag, anyCloseTag = makeHTMLTags(Word(alphas, alphanums + "_:").setName('any tag'))
import pyparsing as pp
File "/usr/lib/python3/dist-packages/pyparsing.py", line 6381, in <module>
class pyparsing_common:
File "/usr/lib/python3/dist-packages/pyparsing.py", line 5848, in makeHTMLTags
File "/usr/lib/python3/dist-packages/pyparsing.py", line 6577, in pyparsing_common
return _makeTags(tagStr, False)
File "/usr/lib/python3/dist-packages/pyparsing.py", line 5808, in _makeTags
tagAttrValue = quotedString.copy().setParseAction(removeQuotes) | Word(printables, excludeChars=">")
+ Optional(_ipv6_part + (':' + _ipv6_part) * (0, 6))
File "/usr/lib/python3/dist-packages/pyparsing.py", line 2267, in __mul__
ret = makeOptionalList(optElements)
File "/usr/lib/python3/dist-packages/pyparsing.py", line 2258, in makeOptionalList
return Optional(self + makeOptionalList(n - 1))
File "/usr/lib/python3/dist-packages/pyparsing.py", line 1557, in setParseAction
self.parseAction = list(map(_trim_arity, list(fns)))
File "/usr/lib/python3/dist-packages/pyparsing.py", line 2160, in __add__
return And([self, other])
File "/usr/lib/python3/dist-packages/pyparsing.py", line 1310, in _trim_arity
this_line = extract_stack(limit=2)[-1]
File "/usr/lib/python3/dist-packages/pyparsing.py", line 4008, in __init__
super(And, self).__init__(exprs, savelist)
File "/usr/lib/python3/dist-packages/pyparsing.py", line 1294, in extract_stack
frame_summary = traceback.extract_stack(limit=-offset + limit - 1)[offset]
File "/usr/lib/python3.8/traceback.py", line 211, in extract_stack
File "/usr/lib/python3/dist-packages/pyparsing.py", line 3866, in __init__
if any(isinstance(expr, basestring) for expr in exprs):
stack = StackSummary.extract(walk_stack(f), limit=limit)
File "/usr/lib/python3.8/traceback.py", line 347, in extract
for f, lineno in frame_gen:
File "/usr/lib/python3.8/traceback.py", line 301, in walk_stack
yield f, f.f_lineno
[Bug] REQUIRED process [sitl-1] has died! · Issue #21837 · PX4/PX4-Autopilot · GitHub
参考了以上链间,删除了PX4文件夹下的test_data,于是不报这个错了(也不知道这个解决方法是否正确)
二、执行rosrun octomap_server octomap_server_node path/to/tree.bt又报错
报错内容:
elsa@elsa-virtual-machine:~$ rosrun trajectory_optimization test_mavros_node
unable to open file
段错误 (核心已转储)