安装环境相关问题
本文主要记录在开发过程中安装环境的一些问题,可能会比较乱,但应该问题不大。
安装宇树相关包的问题
1、需要安装的包
2、报错:[rviz–4] has died!
解决方法:
I’m not sure why but changing the rosdep permission solved this.
$ sudo rosdep fix-permissions
未解决
解决方法:重装ROS
3、报错:Could not find the GUI, install the‘joint_state_publisher_gui‘ package
解决:sudo apt-get install ros-melodic-joint-state-publisher-gui
4、报错:RLException: [xx.launch] is neither a launch file in package [x] nor is [x] a launch file name
解决:
5、报错:无法获得锁 /var/lib/dpkg/lock-frontend - open (11: 资源暂时不可用) E: 无法获取 dpkg 前端锁(/var/lib/dpkg/lock
解决:sudo rm /var/lib/dpkg/lock-frontend
然后重新安装
6、报错:
[gazebo_gui-2] process has died [pid 2305, exit code 137, cmd /opt/ros/melodic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/zzz/.ros/log/4617b152-a2cb-11ed-9b83-000c29f6a827/gazebo_gui-2.log]
解决:
7、报错:
[Err] [REST.cc:205] Error in REST request
解决:
修改~/.ignition/fuel中的config.yaml文件将url: https://api.ignitionfuel.org修改为url: https://api.ignitionrobotics.org,其中需要注意的是,url和name必须要对齐,否则会出现[Err] [ClientConfig.cc:270] Parser error [4]的错误
但是修改之后我对齐了还是出现了这个错误。。。
8、catkin_make问题:
运行以下指令后catkin build ocs2_legged_robot_ros ocs2_self_collision_visualization
出现以下报错
The build space at '/home/zzz/catkin_ws/build' was previously built by 'catkin_make'. Please remove the build space or pick a different build space.
解决:
catkin clean然后重新用catkin编译
但是用catkin编译后还是有报错,出现模型没出现的问题,目前还不清楚是不是因为ubuntu版本不对
安装双系统出现的问题
由于Go1官方推荐的ubuntu版本为18.04因此安装18。04的版本,但20.04的版本也适用但未通过连接实机测试。
新安装的双系统由于linix内核的问题导致找不到wifi适配器,以下内容均参考这篇文章,但略有修改
第一步:升级内核
确认内核版本
uname -sr
Update and upgrade software
sudo apt update
sudo apt upgrade
下载内核的相关包
wget -c https://kernel.ubuntu.com/~kernel-ppa/mainline/v5.11/amd64/linux-headers-5.11.0-051100-generic_5.11.0-051100.202102142330_amd64.deb
wget -c https://kernel.ubuntu.com/~kernel-ppa/mainline/v5.11/amd64/linux-headers-5.11.0-051100_5.11.0-051100.202102142330_all.deb
wget -c https://kernel.ubuntu.com/~kernel-ppa/mainline/v5.11/amd64/linux-image-unsigned-5.11.0-051100-generic_5.11.0-051100.202102142330_amd64.deb
wget -c https://kernel.ubuntu.com/~kernel-ppa/mainline/v5.11/amd64/linux-modules-5.11.0-051100-generic_5.11.0-051100.202102142330_amd64.deb
Install downloaded kernel
sudo dpkg -i *.deb
重启电脑
第二步: Install AX210 WIFI Driver
Download and install firmware from git.kernel.org
wget -c https://git.kernel.org/pub/scm/linux/kernel/git/firmware/linux-firmware.git/snapshot/linux-firmware-main.tar.gz
tar -zxvf linux-firmware-main.tar.gz
cp iwlwifi-*.ucode /lib/firmware //这一步要在linux-firmware-main文件夹下进行
然后重启电脑就可以找到wifi标识。