rotors simulator 错误解决方法

rotors simulator 安装方法与错误解决方案

平台：ubuntu16.04+ROS Kinetic+Gazebo7.14

ROS 安装

参考官网http://wiki.ros.org/cn在ubuntu16.04上安装ROS Kinetic，这里不再介绍

Rotors simulator安装

参考官网https://github.com/ethz-asl/rotors_simulator

错误解决方案

（1）rotors_hil_interface问题

参考https://github.com/ethz-asl/rotors_simulator/issues/523

或直接

https://github.com/ethz-asl/rotors_simulator/pull/522/files?fbclid=IwAR2SxViGule-u8S4A1kE0L6HCwW3cixtO7IgMBNTp9TILT62TGdXPlsxApw

在rotors_hil_interface/include/rotors_hil_interface/hil_interface.h中添加如下代码：

#include <mavros_msgs/HilControls.h>
#include <mavros_msgs/mavlink_convert.h>
#ifndef MAVLINK_H
  typedef mavlink::mavlink_message_t mavlink_message_t;
  #include <mavlink/v2.0/common/mavlink.h>
#endif 
#include <rotors_hil_interface/hil_listeners.h>
namespace rotors_hil {

（2）Could not find a package configuration file provided by “geographic_msgs”

sudo apt-get install ros-kinetic-geographic-msgs

（3）缺少furture：ImportError: No module named ‘future’

sudo apt-get install python-pip 
pip install --upgrade pip 
pip install future

如果还是出现错误 ，可尝试

 python2 -m pip install future

（4）Could NOT find GeographicLib

sudo apt-get install libgeographic-dev- 

(5) gazebo
fatal error: ignition/math/Inertial.hh: No such file or directory

sudo apt-get install libignition-math2-dev

参考自：[1]https://blog.csdn.net/qq_38019633/article/details/84074442
[2]https://blog.csdn.net/xihuanzhi1854/article/details/82154502