安装运行DPMPC代码遇到的问题及解决办法

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 trajectory_optimization test_mavros_node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)

可能解决方案Ubuntu20.04出现段错误核心已转储问题解决方案_段错误 (核心已转储)-CSDN博客

原本以为是核心转储的问题，找了一些解决的办法，但还是报错，后来发现是打不开文件的问题。

最后检查test_mavros_node.cpp文件，发现里面的路径还是作者的路径，未修改，导致找不到文件。改成自己的路径即可。