XTDrone 目标跟踪识别 仿真环境搭建遇到的问题记录

前言：小白向，由于双系统下的ubantu一直报错，所以就转到虚拟机上来进行环境搭建，等双系统实现之后再做更新。
搭建过程主要参考了下面这位博主的文章和xdrone的使用文档，配置的时候有几处小问题先写一下

https://blog.csdn.net/qq_45067735/article/details/108014941?ops_request_misc=&request_id=&biz_id=102&utm_term=darknetros&utm_medium=distribute.pc_search_result.none-task-blog-2_allsobaiduweb~default-3-108014941.142^v86insert_down1,239^v2insert_chatgpt&spm=1018.2226.3001.4187
https://www.yuque.com/xtdrone/manual_cn/target_detection_tracking

USB_CAM报错

（1）No package ‘libv4l2’ found
我的是18.04版本使用下面指令，根据你的uabntu版本来选

sudo apt-get install v4l2-ctl

我安装时会报无法定位安装包，使用下面代码安装完成之后正常

sudo apt-get install ros-melodic-usb-cam

安装完成后未报错
（2）运行usbcam报错

roslaunch usb_cam usb_cam-test.launch

虚拟机中会出现下面的问题，错误如下

[ERROR] [1682215855.236322602]: Cannot identify ‘/dev/video0’: 2, No such file or directory
[usb_cam-2] process has died [pid 64303, exit code 1, cmd /opt/ros/melodic/lib/usb_cam/usb_cam_node __name:=usb_cam __log:=/home/jyf/.ros/log/13b60d18-e17c-11ed-baca-000c29266693/usb_cam-2.log].
log file: /home/jyf/.ros/log/13b60d18-e17c-11ed-baca-000c29266693/usb_cam-2*.log
注意看下摄像头启用没

还是不行的话就看看系统设置，我是笔记本默认的usb2.0要改成3.0

改完之后启动正常，能显示笔记本摄像头画面

1.YOLO启动时编译报错

darknet_ros.launchRLException: [darknet_ros.launch] is neither a launch file in package [darknet_ros] nor is [darknet_ros] a launch file name
The traceback for the exception was written to the log file
一般情况都是没有source导致报错，到你的工作区下面source一下。

source devel/setup.bash

然后启动

 roslaunch darknet_ros darknet_ros.launch

要注意的是有时候在启动yolo和usbcam的时候打开两个终端需要两次source

有种简单的办法在主目录下面ctrl+h显示隐藏文件在最后面加上

source ~/你的工作区/devel/setup.bash
例：source ~/catkin_ws/devel/setup.bash

修改完后保存主目录终端

source .bashrc

之后启动就无须再反复source setup.bash了

2.执行roslaunch darknet_ros target_track.launch报错

RLException: [target_track.launch] is neither a launch file in package [darknet_ros] nor is [darknet_ros] a launch file name
The traceback for the exception was written to the log file

查了一下官网，启动语句是下面这句，启动lolov3

roslaunch darknet_ros task1.launch

yolov4的是用这句

roslaunch darknet_ros multi_target_search.launch

xtdrone复制过来的启动文件如下，可能是xtdrone后面更新了launch文件

还有个需要注意的点是，复制xtdrone的文件之前注意看看里面是不是有文件。我第一次复制过去里面没文件直接编译出错，找了半天原因发现文件夹是空的，复制过去重新编译就好了。
3.在启动室外仿真场景roslaunch px4 outdoor1.launch时报错

RLException: [outdoor1.launch] is neither a launch file in package [px4] nor is [px4] a launch file name
The traceback for the exception was written to the log file
原因是PX4_Firmware出现问题，在.bashrc文件最后加入

source ~/catkin_ws/devel/setup.bash
source ~/PX4_Firmware/Tools/setup_gazebo.bash ~/PX4_Firmware/ ~/PX4_Firmware/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4_Firmware
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4_Firmware/Tools/sitl_gazebo

要注意source顺序，我就是工作区与PX4_Firmware反了报错

source ~/.bashrc

然后测试一下

cd ~/PX4_Firmware
roslaunch px4 mavros_posix_sitl.launch

正常后在测试一下通信

rostopic echo /mavros/state

没问题的话显示如下

有问题的话检查一下.bashrc里的路径。
然后继续执行

cd ~/PX4_Firmware
roslaunch px4 outdoor1.launch

工作区下打开darknet_ros

roslaunch darknet_ros task1.launch

就可以运行仿真了