ROS+PX4+mavros+qgc+nx板子环境搭建笔记

Xuan-ZY

已于 2024-03-21 11:22:23 修改

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分类专栏： Linux-ROS ego 文章标签：笔记

于 2023-10-07 22:12:03 首次发布

本文链接：https://blog.csdn.net/yunddun/article/details/133657508

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环境搭建：

shangwang
chat
Ubuntu20.04中
jmavsim开启失败问题解决方案

NX刷机换源marvros+realsense-Xavier

师兄总结的资料
 zhihu_jetson
不同的项目可能需要装不同版本的opencv，已经在/usr/local里装好了opencv3.4.1，下次需要装其他版本的要记得不要make install，而且要在cmakelists.txt里标记好cv_bridge的文件位置。如：
set(OpenCV_DIR “/home/nvidia/opencv/opencv-3.4.1/build”)
set(cv_bridge_DIR /usr/local/share/cv_bridge/cmake)

mavrosUSB连接

mavros连接
 超威科技 qgc设置

提高px4的IMU频率

重刷固件

Jetson Xavier NX部署VINS-fusion-GPU

NVIDIA Jetson Xavier NX开发板部署VINS-fusion-GPU_阿栋阿栋的
vins1

博客-CSDN博客
NVIDIA Jetson Xavier NX部署VINS-fusion-GPU-CSDN博客
vins2

linux - 无法将打开文件的限制增加到4096(Ubuntu)以上 - Ubuntu问答 (ubuntuqa.com)

sudo su
ulimit -s unlimited
sudo apt install libceres-dev

ros(13):ros找不到包报错及解决办法–Config.cmake
3.1q

3一文搞清楚cmake 是怎么找到包的位:3.2
ERROR报错:

Errors     << vins:check /home/nvidia/catkin_ws/logs/vins/build.check.005.log        
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:85 (find_package):
  Could not find a package configuration file provided by "cv_bridge" with
  any of the following names:

    cv_bridgeConfig.cmake
    cv_bridge-config.cmake

  Add the installation prefix of "cv_bridge" to CMAKE_PREFIX_PATH or set
  "cv_bridge_DIR" to a directory containing one of the above files.  If
  "cv_bridge" provides a separate development package or SDK, be sure it has
  been installed.

SOLVE解决方法与原因
cv_bridge报错解决问题

cd vision_opencv/cv_bridge
mkdir build
cd build
cmake ..
make
sudo make install

编译完cv_bridge源码之后，命令行显示cmake地址：

在这里插入图片描述
cmake文件下的几个文档是用来给其他cmake项目调用的，如下chat解释的那样

在catkin_ws中进行编译时候，用到cv-bridge时候，需要在cmakelist中调用本地编译的cvvridge
在这里插入图片描述

include(/home/nvidia/opencv-gpu/opencv-3.4.1/build/OpenCVConfig.cmake)

set(cv_bridge_DIR /usr/local/share/cv_bridge/cmake) #没有这句话下面找不到包会报错
find_package(catkin REQUIRED COMPONENTS
    roscpp
    std_msgs
    geometry_msgs
    nav_msgs
    tf
    cv_bridge#此处会报错
    camera_models
    image_transport)

外参标定-VINS-FUSION-GPU-联合标定

带你解读Kalibr和VINS标定参数
 带你具体部署VINS_FUSION_GPU版本
 带你实现IMU和双目相机的联合标定

理论
相机标定基础

b站hg教程：

b站px4环境安装教程文档
 bilibili
资料链接：https://pan.baidu.com/s/1P2gqfdofudzguFvBiM55QA?pwd=llye
提取码：llye

无线网卡

ac650m

error

Fast-Drone 250编译问题

CMake Error at realflight_modules/VINS-Fusion/loop_fusion/CMakeLists.txt:19 (find_package):
  Could not find a configuration file for package "OpenCV" that is compatible
  with requested version "4".

解决方法：

修改Fast-Drone-250-master/src/realflight_modules/VINS-Fusion/camera_models/CMakeLists.txt文件

将find_package(OpenCV 4 REQUIRED)改为find_package(OpenCV 3 REQUIRED)