解决mavros源码安装过程中wstool update -t src -j4报错(网络限制)问题

本文讲述了如何解决在更新mavlink和mavros时遇到的HTTPS连接错误,通过修改.rosinstall文件,将GitHub链接替换为国内源,成功解决了git clone的问题,确保了代码库的正常更新。

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继上一篇解决了mavlink安装的网络问题后,没想到这个指令更新也需要链接到github
而直接执行时,报错:

[mavlink,mavros] still active
fatal: unable to access 'https://github.com/mavlink/mavros.git/': gnutls_handshake() failed: The TLS connection was non-properly terminated.
fatal: unable to access 'https://github.com/mavlink/mavlink-gbp-release.git/': gnutls_handshake() failed: The TLS connection was non-properly terminated.
Exception caught during install: Error processing 'mavlink' : [mavlink] Checkout of https://github.com/mavlink/mavlink-gbp-release.git version release/melodic/mavlink/2022.3.3-1 into /home/nvidia/zxhmavros_ws/src/mavlink failed.
Error processing 'mavros' : [mavros] Checkout of https://github.com/mavlink/mavros.git version 1.13.0 into /home/nvidia/zxhmavros_ws/src/mavros failed.

ERROR in config: Error processing 'mavlink' : [mavlink] Checkout of https://github.com/mavlink/mavlink-gbp-release.git version release/melodic/mavlink/2022.3.3-1 into /home/nvidia/zxhmavros_ws/src/mavlink failed.
Error processing 'mavros' : [mavros] Checkout of https://github.com/mavlink/mavros.git version 1.13.0 into /home/nvidia/zxhmavros_ws/src/mavros failed.

我们知道PX4源码git clone失败的话,方法之一就是修改PX4文件的隐藏文件.gitmodules,换源下载就好了,这里也采用同样的思路。

找到为mavros创建的工作空间下的src文件夹,按下ctrl+h找出隐藏文件.rosinstall
打开后发现里面为:

# THIS IS AN AUTOGENERATED FILE, LAST GENERATED USING wstool ON 2022-06-30
- git:
    local-name: mavlink
    uri: https://github.com/mavlink/mavlink-gbp-release.git
    version: release/melodic/mavlink/2022.3.3-1
- git:
    local-name: mavros
    uri: https://github.com/mavlink/mavros.git
    version: 1.13.0

这里把uri的链接换成国内源就OK 了,参考我之前写过的步骤,注意点进每个源的网站看看人家官方的使用格式,这里我用了http://gitclone.com的源,即修改.rosinstall 为:

# THIS IS AN AUTOGENERATED FILE, LAST GENERATED USING wstool ON 2022-06-30
- git:
    local-name: mavlink
    uri: https://gitclone.com/github.com/mavlink/mavlink-gbp-release.git
    version: release/melodic/mavlink/2022.3.3-1
- git:
    local-name: mavros
    uri: https://gitclone.com/github.com/mavlink/mavros.git
    version: 1.13.0

然后保存,再次执行wstool update -t src -j4即可。

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