1、OMPLConfig.cmake
ompl-config.cmake
解决方法:
sudo apt-get install ros-kinetic-ompl*
2、quadrotor_msgsConfig.cmake
quadrotor_msgs-config.cmake
解决方法:
(1)~/catkin_ws/src$ git clone git://github.com/jchenbr/quadrotor_msgs.git
(2)~/catkin_ws$ catkin_make --pkg quadrotor_msgs
3、bspline_optConfig.cmake
bspline_opt-config.cmake
解决方法:
https://github.com/HKUST-Aerial-Robotics/Fast-Planner
git clone https://github.com/HKUST-Aerial-Robotics/Fast-Planner.git
cd ../
catkin_make
下载编译即可
遇到plan-envConfig.cmake,plan-env-config.cmake解决方法如上。
4、No package 'libopenni2' found
解决方法:
sudo apt-get install libopenni2-dev
5、nlopt.hpp没有那个文件或目录
sudo apt-get install ros-kinetic-nlopt
6、 error: 'Any' is not a member of 'gazebo::msgs'
原因:gazebo版本低,进行升级即可
解决方法:
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/gazebo-stable.list'
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
sudo apt update
sudo apt upgrade
7、error : sdf/sdf.hh: No such file or directory
报错原因:库路径问题
解决方法:
sudo gedit ~/.bashrc
在打开的文件中添加两行:
export GAZEBO_INCLUDE_DIRS=$GAZEBO_INCLUDE_DIRS:/usr/include/sdformat-4.4
export GAZEBO_LIBRARY_DIRS=$GAZEBO_LIBRARY_DIRS:/usr/lib/lib/x86_64-linux-gnu
保存后退出
再运行:
source ~/.bashrc
注意:其中的/usr/include/sdformat-4.4,4.4为相应版本,打开/usr/include/即可看到
8、Error:Could not find a package configuration file provided by “gazebo_plugins“
解决方法:
sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control
9、复现运行步骤
1、~/catkin_ws$
source devel/setup.bash
2、~/catkin_ws$
roslaunch '/home/lab/catkin_ws/src/rotors_simulator/rotors_gazebo/launch/mav_path_plan.launch'
3、rosrun path_planning path_planning_21_change18