Learning High-Speed Flight in the Wild复现

有复现/编译不成功的问题欢迎在评论区评论，本人复现成功过几次，大大小小碰见无数问题，耗费了大量时间。目前成功的环境配置如下：

    ubuntu18.04
    cmake version 3.22.0/3.10.2
    nvidia-smi: NVIDIA-SMI 510.47.03/510.54   CUDA Version: 11.6
    nvcc -V:  cuda_11.5/cuda_11.2
    gcc (Ubuntu 7.5.0-3ubuntu1~18.04) 7.5.0
    g++(Ubuntu 7.5.0-3ubuntu1~18.04) 7.5.0
    ros-melodic
    Python 3.6.4
    open3d 0.10.0
    显卡1080ti

1. 问题：

Could not import "pyqt" bindings of qt_gui_cpp library - so C++ plugins will not be available:
Traceback (most recent call last):
File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui_cpp/cpp_binding_helper.py", line 43, in <module>
from . import libqt_gui_cpp_sip
ImportError: /home/wj321/anaconda3/envs/simulator/lib/python3.7/site-packages/PyQt5/Qt/lib/libQt5Core.so.5: version `Qt_5.12' not found (required by /opt/ros/noetic/lib/python3/dist-packages/qt_gui_cpp/libqt_gui_cpp_sip.so)

解决方法：
参考：link
注意：必须不能激活conda环境（使用conda deactivate），连base环境都不可以

2. 问题：

[ERROR] [1647420550.484482818]: Could not open parameter file simulator/actuators/motor.txt.
[ERROR] [1647420550.484530410]: Could not open parameter file simulator/actuators/motor.txt.
[ERROR] [1647420550.484549912]: Could not open parameter file simulator/actuators/motor.txt.
[ERROR] [1647420550.484569954]: Could not open parameter file simulator/actuators/motor.txt.
[ERROR] [1647420550.484599484]: Could not open parameter file simulator/sensors/imu.txt.

解决方法：
~/.bashrc路径下，‘export RPGQ_PARAM_DIR=/home/XXX/XXX/catkin_aa/src/rpg_flightmare’ 里路径填写错误

3. 问题：
   自动升级了ubuntu系统内核之后，运行roslauch simulation时，可能会出现新的报错

[ERROR] [1648602370.270104353, 294.864000000]: no CUDA-capable device is detected 100

导致输入nvidia-smi后错误：

NVIDIA-SMI has failed because it couldn't communicate with the NVIDIA driver. Make sure that the latest NVIDIA driver is installed and running.

解决方法：link
采用第一种方法：
输入ls /usr/src/后：我的文件夹内有nvidia-srv-450.172.01
则输入：sudo dkms install -m nvidia-srv -v 510.47.03
后关机重启即可解决

4. 问题：