Ubuntu16.04+ros-kinetic下px4+move_base遇到的问题【还未实现】

1.错误：
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "mavros" with any
  of the following names:

    mavrosConfig.cmake
    mavros-config.cmake
……
解决：sudo apt-get install ros-kinetic-mavros
2.错误：
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "moveit_msgs" with
  any of the following names:

    moveit_msgsConfig.cmake
    moveit_msgs-config.cmake
……
解决：sudo apt-get install ros-kinetic-moveit-msgs
3.错误：
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "moveit_core" with
  any of the following names:

    moveit_coreConfig.cmake
    moveit_core-config.cmake
……
解决：sudo apt-get install ros-kinetic-moveit-core
4.错误：
rror: ar_track_alvar_msgs/AlvarMarkers.h: 没有那个文件或目录
compilation terminated.
modules/px4_control/CMakeFiles/tracking_quadrotor_node.dir/build.make:62: recipe for target 'modules/px4_control/CMakeFiles/tracking_quadrotor_node.dir/src/tracking_quadrotor.cpp.o' failed
make[2]: *** [modules/px4_control/CMakeFiles/tracking_quadrotor_node.dir/src/tracking_quadrotor.cpp.o] Error 1
CMakeFiles/Makefile2:3724: recipe for target 'modules/px4_control/CMakeFiles/tracking_quadrotor_node.dir/all' failed
make[1]: *** [modules/px4_control/CMakeFiles/tracking_quadrotor_node.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
[  0%] Linking CXX executable /home/y/my_ws/devel/lib/px4_control/auto_2d_nav_node
[  0%] Built target auto_2d_nav_node
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j2 -l2" failed

5.错误：使用NINjia编译PX4报错：
ninja: build stopped: subcommand failed.
Makefile:198: recipe for target 'px4_sitl_default' failed
make: *** [px4_sitl_default] Error 1
解决：在src/Firmware 文件夹下执行:make clean。然后重新编译。

6.错误：
CMake Error at CMakeLists.txt:32 (find_package):
  By not providing "Findgazebo.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "gazebo", but
  CMake did not find one.

  Could not find a package configuration file provided by "gazebo" with any
  of the following names:

    gazeboConfig.cmake
    gazebo-config.cmake
……
解决：sudo apt-get install libgazebo7-dev

7.错误：
    linked by target "gazebo_motor_model" in directory /home/y/my_ws/Firmware/Tools/sitl_gazebo

-- Configuring incomplete, errors occurred!
See also "/home/y/my_ws/Firmware/build/px4_sitl_default/build_gazebo/CMakeFiles/CMakeOutput.log".
See also "/home/y/my_ws/Firmware/build/px4_sitl_default/build_gazebo/CMakeFiles/CMakeError.log".
[226/740] Building CXX object src/modu...Files/modules__uORB.dir/uORBMain.cpp.o
FAILED: cd /home/y/my_ws/Firmware/build/px4_sitl_default/build_gazebo && /usr/bin/cmake -DCMAKE_INSTALL_PREFIX=/usr/local -DSEND_VISION_ESTIMATION_DATA=ON -GNinja /home/y/my_ws/Firmware/Tools/sitl_gazebo && /usr/bin/cmake -E touch /home/y/my_ws/Firmware/build/px4_sitl_default/external/Stamp/sitl_gazebo/sitl_gazebo-configure
[226/740] Building CXX object src/modu...modules__uORB.dir/uORBDeviceNode.cpp.o
ninja: build stopped: subcommand failed.
Makefile:198: recipe for target 'px4_sitl_default' failed
make: *** [px4_sitl_default] Error 1
解决：sudo apt-get install libgstreamer-plugins-base1.0-dev

8.错误：目前使用的protoc版本太高了，需要降级。
/usr/include/gazebo-7/gazebo/msgs/quaternion.pb.h:17:2: error: #error This file was generated by an older version of protoc which is
 #error This file was generated by an older version of protoc which is
  ^
/usr/include/gazebo-7/gazebo/msgs/quaternion.pb.h:18:2: error: #error incompatible with your Protocol Buffer headers. Please
 #error incompatible with your Protocol Buffer headers.  Please
  ^
/usr/include/gazebo-7/gazebo/msgs/quaternion.pb.h:19:2: error: #error regenerate this file with a newer version of protoc.
 #error regenerate this file with a newer version of protoc.
  ^
……
解决：暂未解决。cartographer需要3.6.0，但gazebo需要2.6.1。

目前还是卡在编译make px4_sitl_default gazebo这一步。