碎碎念
最近在配置crazyflie的一个新的工具箱CrazyChoir
,资料也太少了,还花时间了解了一下
- webots
- ros2
- webots_ROS2
期间报的一些错在偌大的一个互联网都捞不到的程度,哎…
进入正题
按照官网给的安装教程配置完以后
ubuntu 20.04
ROS2 Foxy
Webots R2022a
运行ros2 launch crazychoir_examples formation_webots.launch.py
报错:
[driver-21] Traceback (most recent call last):
[driver-21] File "/home/yz317/dev_ws/build/crazychoir/crazychoir/utils/__init__.py", line 6, in <module>
[driver-21] import cffirmware
[driver-21] ModuleNotFoundError: No module named 'cffirmware'
解决办法
查看__init__py
里面的sys.path.append('~/dev_ws/crazyflie-firmware/build/cffirmware.py')
于是把这个路径添加到.bashrc
文件中
export PYTHONPATH="/home/csu317/dev_ws/crazyflie-firmware/build/:$PYTHONPATH"
问题解决!
但webots里还是有一些warning,不过现在还没有影响使用,就之后再看看咋解决了
WARNING: Floor (PROTO) > Appearance > ImageTexture: Texture image size of '/home/csu317/dev_ws/src/crazychoir/crazychoir/utils/images/casy_logo.png' is not a power of two: rescaling it from 200x200 to 256x256.
WARNING: TexturedBackground (PROTO): Cannot retrieve 'https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/default/worlds/textures/cubic/mountains_back.png': Cannot download https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/default/worlds/textures/cubic/mountains_back.png: 打开https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/default/worlds/textures/cubic/mountains_back.png发生错误
WARNING: TexturedBackground (PROTO): Cannot download leftIrradianceUrl: Cannot download https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/default/worlds/textures/cubic/mountains_back.hdr: 打开https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/default/worlds/textures/cubic/mountains_back.hdr发生错误
参考资料
- 安装教程
https://opt4smart.github.io/crazychoir/installation - github
https://github.com/OPT4SMART/crazychoir/