Ubuntu18.04+ROS-melodic环境 px4+move_base仿真遇到的问题

前前后后安了三个虚拟机，折腾了快一个月了吧……第四次用双系统终于实现了!每次都有不同的坑……

1.错误：
gz:symbol lookup error: /usr/lib/x86_64-linux-gnu/libgazebo_common.so.9: undefined symbol: _ZTIN8ignition4math2v45ColorE
解决：sudo apt upgrade  运行成功后，重新启动电脑

 

2.错误：   
sudo apt-get install libjaster-dev提示：errorE: unable to locate libjasper-dev
解决：
sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt update
sudo apt install libjasper1 libjasper-dev

 

3.错误：
Could not find a package configuration file provided by "OMPL" with any of
  the following names:

    OMPLConfig.cmake
    ompl-config.cmake
解决：sudo apt-get install ros-melodic-ompl*或github上下载源码安装。
之后到volans/src/sup/path_planning/CMakeLists.txt中，修改find_package(OMPL REQUIRED)为find_package(ompl REQUIRED)  (此处是大坑！！！）

4.错误： Could not find a package configuration file provided by "darknet_ros_msgs"   with any of the following names:      darknet_ros_msgsConfig.cmake     darknet_ros_msgs-config.cmake
用sudo apt-get install  ros-melodic-darknet-ros-msgs显示无法定位软件包
解决：到http://wiki.ros.org/darknet_ros上下载zip压缩包，放到volans的src路径下，重新catkin build

 

5.警告：
Warning [parser.cc:626] Can not find the XML attribute 'version' in sdf XML tag for model: 2Dlidar. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
[INFO] [1604490731.139914, 354.363000]: Spawn status: SpawnModel: Successfully spawned entity
可直接忽略，不影响后续

 

6.错误：一直提示No map received。
原因：gazebo缺少插件。
解决：sudo apt-get install ros-melodic-gazebo-plugins