XTDrone--执行roslaunch px4 indoor1.launch 遇到的问题

RLException: while processing /home/karasi/PX4_Firmware/launch/single_vehicle_spawn_xtd.launch:Invalid tag: Cannot load command parameter [model_description]: no such command [[‘xmlstarlet’, ‘ed’, ‘-d’, ‘//plugin[@name=“mavlink_interface”]/mavlink_tcp_port’, ‘-s’, ‘//plugin[@name=“mavlink_interface”]’, ‘-t’, ‘elem’, ‘-n’, ‘mavlink_tcp_port’, ‘-v’, ‘4560’, ‘/home/karasi/PX4_Firmware/Tools/sitl_gazebo/models/iris_stereo_camera/iris_stereo_camera.sdf’]]. Param xml is The traceback for the exception was written to the log file

原因：依赖没装全
sudo apt install xmlstarlet

执行make px4_sitl_default gazebo遇到的问题
问题1：No package ‘gstreamer-base-1.0’ found解决如下：

sudo apt install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev
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问题2：No module named 'jinja2’解决如下：

pip3 install jinja2 -i http://mirrors.aliyun.com/pypi/simple --trusted-host mirrors.aliyun.com
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执行 roslaunch px4 mavros_posix_sitl.launch遇到的问题

RLException: [mavros_posix_sitl.launch] is neither a launch file in package [px4] nor is [px4] a launch file name. The traceback for the exception was written to the log file

原因：缺少环境变量，在~/.bashrc文件增加以下代码，前两个source顺序能写反

source ~/catkin_ws/devel/setup.bash
source ~/PX4_Firmware/Tools/setup_gazebo.bash ~/PX4_Firmware/ ~/PX4_Firmware/build/px4_sitl_default
export ROS_PACKAGE_PATH=$RO{S}_{P}ACKAG{E}_{P}ATH:/PX{4}_{F}irmwareexportRO{S}_{P}ACKAG{E}_{P}ATH=$ROS_PACKAGE_PATH:~/PX4_Firmware/Tools/sitl_gazebo
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执行rostopic echo /mavros/state若出现connected: True,则说明MAVROS与SITL通信成功。
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执行roslaunch px4 indoor1.launch 遇到的问题

[ 问题1 ] RLException: while processing /home/karasi/PX4_Firmware/launch/single_vehicle_spawn_xtd.launch:Invalid tag: Cannot load command parameter [model_description]: no such command [[‘xmlstarlet’, ‘ed’, ‘-d’, ‘//plugin[@name=“mavlink_interface”]/mavlink_tcp_port’, ‘-s’, ‘//plugin[@name=“mavlink_interface”]’, ‘-t’, ‘elem’, ‘-n’, ‘mavlink_tcp_port’, ‘-v’, ‘4560’, ‘/home/karasi/PX4_Firmware/Tools/sitl_gazebo/models/iris_stereo_camera/iris_stereo_camera.sdf’]]. Param xml is The traceback for the exception was written to the log file

原因：依赖没装全，解决如下

sudo apt install xmlstarlet
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[ 问题2 ] Traceback (most recent call last): File “multirotor_communication.py”, line 8, in
from pyquaternion import Quaternion ImportError: No module named pyquaternion

原因：python程序在执行的时候缺少py库造成的，若python3安装完，依旧存在缺少问题，说明这里要给python2装。
当电脑同时安装了 python 2.x 和 python3.x时，给Python2.x环境安装包要用pip命令，给python3.x环境安装包要用pip3命令。安装命令如下：

sudo pip3 install pyquaternion
sudo pip install pyquaternion
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[ 问题3 ] [gazebo-2] process has died [pid 24460, exit code 255, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode
/home/karasi/PX4_Firmware/Tools/sitl_gazebo/worlds/indoor1.world __name:=gazebo __log:=/home/karasi/.ros/log/7812be94-7370-11ec-9bb2-98541b170070/gazebo-2.log]. log file: /home/karasi/.ros/log/7812be94-7370-11ec-9bb2-98541b170070/gazebo-2*.log

原因： 怀疑是gazebo进程的问题，可以试一下消灭gazebo所有进程，再重新roslaunch

killall -9 gzclient
killall -9 gzserver