论文仿真：Learning High-Speed Flight in the Wild

主要记录配置环境过程的坑

仿真电脑配置

Ubuntu 18.04.5 LTS
AMD® Ryzen 9 5950x
GeForce RTX 3090
NVIDIA Driver Version: 460.91.03
CUDA Version: 11.2

Git源码

Git仓库：https://github.com/uzh-rpg/agile_autonomy
总共需要20个额外的git仓库，可单独手动git（github不稳定）：

git clone https://github.com/ethz-asl/catkin_boost_python_buildtool.git

git clone https://github.com/catkin/catkin_simple.git

git clone https://github.com/ethz-asl/eigen_catkin.git

git clone https://github.com/ethz-asl/eigen_checks.git

git clone https://github.com/ethz-asl/gflags_catkin.git

git clone https://github.com/ethz-asl/glog_catkin.git

git clone https://github.com/ethz-asl/mav_comm.git

git clone https://github.com/uzh-rpg/minimum_jerk_trajectories.git

git clone https://github.com/ethz-asl/minkindr.git

git clone https://github.com/ethz-asl/minkindr_ros.git

git clone https://github.com/ethz-asl/numpy_eigen.git

git clone https://github.com/kelia/rpg_common.git
cd rpg_common/
git checkout main
cd ..

git clone https://github.com/ethz-asl/rotors_simulator.git

git clone https://github.com/uzh-rpg/rpg_mpc.git
cd rpg_mpc/
git checkout feature/return_full_horizon
cd ..

git clone https://github.com/uzh-rpg/rpg_quadrotor_common.git

git clone https://github.com/uzh-rpg/rpg_quadrotor_control.git
cd rpg_quadrotor_control/
git checkout devel/elia
cd ..

git clone https://github.com/uzh-rpg/rpg_single_board_io.git

git clone https://github.com/antonilo/flightmare_agile_autonomy.git
cd flightmare_agile_autonomy/
git checkout main
cd ..

git clone https://github.com/uzh-rpg/rpg_mpl_ros.git

git clone https://github.com/uzh-rpg/assimp_catkin.git

相关错误和解决方案

主要按照官网README.md文件配置

1. sudo apt-get install libqglviewer-dev-qt5 出现（没管，记录下来）

/sbin/ldconfig.real: /usr/local/cuda/targets/x86_64-linux/lib/libcudnn_ops_train.so.8 is not a symbolic link

2. octomap问题

sudo apt-get install ros-melodic-octomap-msgs 

3. Open3D 安装问题

// 若没有git，则需要安装
git clone https://github.com/intel-isl/Open3D
// 在open3d文件夹内，输入下方指令，切换到指定版本
git checkout  v0.9.0
// 在open3d文件夹内，输入如下指令，进行自动下载第三方支持库，这一步不要自己去下载第三方支持库，很容易出错，虽然速度有点慢，并且可能会失败，但多尝试几次，总会成功的。
git submodule update --init --recursive
// 安装相关库
util/scripts/install-deps-ubuntu.sh
// 安装
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=$HOME/open3d_install ..
# On Ubuntu
make -j$(nproc)
make install

4. Open3D过程问题 sudo apt-get install npm报错

sudo apt-get install nodejs-dev node-gyp libssl1.0-dev

5. open3d路径问题

参考博客 https://blog.csdn.net/wxm__/article/details/121220816

由于安装时，将open3d安装到了home文件夹内，所以要将程序中的搜索open3d路径修改：

mpl_test_node/CMakeLists.txt
open3d_conversions/CMakeLists.txt
agile_autonomy/data_generation/traj_sampler/CMakeLists.txt
在CMakeLists里，有open3d的搜索路径程序：
find_package(Open3D HINTS /home/yourname/open3d_install/lib/cmake/)
再将agile_automomy_ws/devel/share/open3d_conversions/cmake/open3d_conversionsConfig.cmake 的第157行增加如下路径：

6. gazebo_pluginsConfig.cmake

sudo apt-get install ros-melodic-gazebo-plugins

7. mavrosConfig.cmake

sudo apt-get install ros-melodic-mavros

8. octomap_rosConfig.cmake

sudo apt install ros-melodic-octomap-ros

9. rvizConfig.cmake

sudo apt-get install ros-melodic-rviz

10. VTKConfig.cmake
    参考官方文档https://gitlab.kitware.com/vtk/vtk/-/blob/master/Documentation/dev/build.md
11. cmake版本
    安装更高版本如 cmake-3.24.2
    参考博客 https://blog.csdn.net/kuvinxu/article/details/126222688
12. Could NOT find SDL (missing: SDL_LIBRARY SDL_INCLUDE_DIR)

sudo apt-get install libsdl-image1.2-dev
sudo apt-get install libsdl-dev

13. agile_autonomy_ws/devel/lib/librotors_gazebo_multirotor_base_plugin.so: undefined symbol: _ZN14gz_sensor_msgs9ActuatorsC1Ev

把bashrc中PX4路径注释掉，冲突

14. ImportError: dynamic module does not define module export function (PyInit_cv_bridge_boost)

# cv_bridge安装：
conda deactivate
mkdir  cv_bridge_ws
cd cv_bridge_ws
mkdir src
cd src
git clone https://github.com/ros-perception/vision_opencv.git
# Find version of cv_bridge in your repository
apt-cache show ros-melodic-cv-bridge | grep Version
    Version: 1.13.0-0bionic.20210921.205941
git checkout 1.13.0 

# Instruct catkin to set cmake variables 注意这里的python必须是系统自带的那个，我一开始按照第二个回复配置了Anaconda的Python,但是不行
catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so
# Instruct catkin to install built packages into install place. It is $CATKIN_WORKSPACE/install folder
catkin config --install

catkin build
source devel/setup.bash --extend 或 加入.bashrc

15. tensorflow-gpu 版本要与cuda一致，重装合适版本的tensorflow-gpu

仿真结果

参考博客：
https://blog.csdn.net/Aadequate/article/details/127458367
https://blog.csdn.net/wxm__/article/details/121220816
https://blog.csdn.net/qq_42412225/article/details/123537758