Learning High-Speed Flight in the Wild 环境安装

参考

https://blog.csdn.net/qq_42412225/article/details/123537758?spm=1001.2014.3001.5506

https://blog.csdn.net/wxm__/article/details/121220816?spm=1001.2014.3001.5506

一 、open3d安装

在这一部分踩坑无数，遇到了无数的问题。

在该论文的代码中，只能安装0.10.0版本以及0.9.0，其他高于0.10.0的版本，在编译过程中，均会报错。但是由于不知道什么原因，电脑上0.10.0的安装会报错。安装不上，最终安装上了0.9.0版本。
安装过程：

这里首先应该安装cmake，这里安装cmake以及make

sudo apt install cmake
sudo pip install --upgrade cmake==3.21.0
// make 如果先安装的显卡部分，会提示需要安装make
sudo apt install make

open3d

// 若没有git，则需要安装
git clone --recursive https://github.com/intel-isl/Open3D
// 在open3d文件夹内，输入下方指令，切换到指定版本
git checkout  v0.9.0
#消息“HEAD is now at e5b Update: version bump to 0.9.0”意味着你已经成功地检出了版本0.9.0，并且当前的 HEAD 指向了该版本的最后一个提交（其提交哈希的前几个字符是e5b），实际上已经在v0.9.0版本上了。

// 在open3d文件夹内，输入如下指令，进行自动下载第三方支持库，这一步不要自己去下载第三方支持库，很容易出错，虽然速度有点慢，并且可能会失败，但多尝试几次，总会成功的。
git submodule update --init --recursive
// 安装相关库
util/scripts/install-deps-ubuntu.sh
// 安装
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=$HOME/open3d_install ..
# On Ubuntu
make -j$(nproc)
make install

二、安装程序

export ROS_VERSION=noetic
mkdir agile_autonomy_ws
cd agile_autonomy_ws
export CATKIN_WS=./catkin_aa
mkdir -p $CATKIN_WS/src
cd $CATKIN_WS
catkin init
catkin config --extend /opt/ros/$ROS_VERSION
catkin config --merge-devel
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS=-fdiagnostics-color
cd src

git clone https://github.com/uzh-rpg/agile_autonomy.git

#如果报错，需要对dependencies.yaml进行修改，具体修改见下面
vcs-import < agile_autonomy/dependencies.yaml


cd rpg_mpl_ros
git submodule update --init --recursive

#install extra dependencies (might need more depending on your OS)
sudo apt-get install libqglviewer-dev-qt5

# Install external libraries for rpg_flightmare
sudo apt install -y libzmqpp-dev libeigen3-dev libglfw3-dev libglm-dev

# Install dependencies for rpg_flightmare renderer
sudo apt install -y libvulkan1 vulkan-utils gdb

# Add environment variables (Careful! Modify path according to your local setup)
# 这个地方路径要设置成自己的，并且不要有中文路径
echo 'export RPGQ_PARAM_DIR=/home/<path/to/>catkin_aa/src/rpg_flightmare' >> ~/.bashrc

三、程序编译

如果有python2的环境，首先设置软连接，切换到python3

设置软链接

sudo update-alternatives --install /usr/bin/python python /usr/bin/python2 100
sudo update-alternatives --install /usr/bin/python python /usr/bin/python3 150
# build
catkin build
# 在devel文件夹内
. ../devel/setup.bash

# Create your learning environment
roscd planner_learning
conda create --name tf_24 python=3.7
conda activate tf_24
conda install tensorflow-gpu
pip install rospkg==1.2.3,pyquaternion,open3d,opencv-python

四、测试

测试代码参考最上面的链接

报错

1、择修改下载依赖包的方式为https. 即修改 src/agile_autonomy/dependencies.yaml 的内容如下：

repositories:
  catkin_boost_python_buildtool:
    type: git
    url: https://github.com/ethz-asl/catkin_boost_python_buildtool.git
    version: master
  catkin_simple:
    type: git
    url: https://github.com/catkin/catkin_simple.git
    version: master
  eigen_catkin:
    type: git
    url: https://github.com/ethz-asl/eigen_catkin.git
    version: master
  eigen_checks:
    type: git
    url: https://github.com/ethz-asl/eigen_checks.git
    version: master
  gflags_catkin:
    type: git
    url: https://github.com/ethz-asl/gflags_catkin.git
    version: master
  glog_catkin:
    type: git
    url: https://github.com/ethz-asl/glog_catkin.git
    version: master
  mav_comm:
    type: git
    url: https://github.com/ethz-asl/mav_comm.git
    version: master
  minimum_jerk_trajectories:
    type: git
    url: https://github.com/uzh-rpg/minimum_jerk_trajectories.git
    version: master
  minkindr:
    type: git
    url: https://github.com/ethz-asl/minkindr.git
    version: master
  minkindr_ros:
    type: git
    url: https://github.com/ethz-asl/minkindr_ros.git
    version: master
  numpy_eigen:
    type: git
    url: https://github.com/ethz-asl/numpy_eigen.git
    version: master
  rpg_common:
    type: git
    url: https://github.com/kelia/rpg_common.git
    version: main
  rotors_simulator:
    type: git
    url: https://github.com/ethz-asl/rotors_simulator.git
    version: master
  rpg_mpc:
    type: git
    url: https://github.com/uzh-rpg/rpg_mpc.git
    version: feature/return_full_horizon
  rpg_quadrotor_common:
    type: git
    url: https://github.com/uzh-rpg/rpg_quadrotor_common.git
    version: master
  rpg_quadrotor_control:
    type: git
    url: https://github.com/uzh-rpg/rpg_quadrotor_control.git
    version: devel/elia
  rpg_single_board_io:
    type: git
    url: https://github.com/uzh-rpg/rpg_single_board_io.git
    version: master
  rpg_flightmare:
    type: git
    url: https://github.com/antonilo/flightmare_agile_autonomy.git
    version: main
  rpg_mpl_ros:
    type: git
    url: https://github.com/uzh-rpg/rpg_mpl_ros.git
    version: master
  assimp_catkin:
    type: git
    url: https://github.com/uzh-rpg/assimp_catkin.git
    version: master

2、CMake Error at /opt/ros/noetic/share/catkin/cmake/empy.cmake:30 (message):

Unable to find either executable ‘empy’ or Python module ‘em’… try
installing the package ‘python3-empy’

catkin clean #清楚工作空间
catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3
catkin build

3、其他缺失包的安装

# vcs-import 错误
sudo apt-get update
sudo apt-get install python3-vcstool

#catkin init 错误
sudo apt install python3-catkin-tools python3-osrf-pycommon

# 缺少octomap-msgs
sudo apt-get install ros-noetic-octomap-msgs

# 缺少empy库
sudo apt-get install python3-empy

4、Open3d的路径问题

由于安装时，将open3d安装到了home文件夹内，所以要CMakeLists.txt中更改open3d路径：

1. rpg_mpl_ros/mpl_test_node/CMakeLists.txt
   rpg_mpl_ros/open3d_conversions/CMakeLists.txt
   agile_autonomy/data_generation/traj_sampler/CMakeLists.txt

find_package(Open3D HINTS /home/yourname/open3d_install/lib/cmake/)

5、其他报错参考

https://blog.csdn.net/Aadequate/article/details/127458367

6、ImportError: /lib/x86_64-linux-gnu/libstdc++.so.6: version `GLIBCXX_3.4.29’ not found (required by /home/lhd/anaconda3/envs/tf_24/lib/python3.8/site-packages/scipy/spatial/_ckdtree.cpython-38-x86_64-linux-gnu.so)

查看当前有那些版本

strings /usr/lib/x86_64-linux-gnu/libstdc++.so.6 | grep GLIBCXX

查找当前系统中其他的同类型文件，找到一个版本较高的

sudo find / -name "libstdc++.so.6*"

复制到指定目录并建立新的链接

sudo cp /root/anaconda3/envs/list/lib/libstdc++.so.6.0.29 /usr/lib/x86_64-linux-gnu/
sudo rm /usr/lib/x86_64-linux-gnu/libstdc++.so.6
sudo ln -s /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.29 /usr/lib/x86_64-linux-gnu/libstdc++.so.6

参考

五、ubuntu20.04安装UE4

安装前需要保证 github 账号的连接，具体操作方法参考以下链接：
https://www.unrealengine.com/en-US/ue-on-github

UnrealEngine 无法安装，点Setup.bat会报错，Failed to download ‘https://cdn.unrealengine.com/dependencies/UnrealEngine-…’
找到对应的Commit.gitdeps.xml，替换 Engine\Build\ 下的同名文件后就可以安装了，

参考
4.25:https://github.com/EpicGames/UnrealEngine/releases/tag/4.25.4-release

4.26:https://github.com/EpicGames/UnrealEngine/releases/tag/4.26.2-release

4.27:https://github.com/EpicGames/UnrealEngine/releases/tag/4.27.2-release

5.0:https://github.com/EpicGames/UnrealEngine/releases/tag/5.0.3-release

5.1:https://github.com/EpicGames/UnrealEngine/releases/tag/5.1.1-release