Ubuntu20.04配置自主探索FUEL报错与解决

问题

FUEL github链接：
https://github.com/HKUST-Aerial-Robotics/FUEL#creating-a-pcd-environment
按照说明安装nlopt且修改bspline_opt的CMakeLists.txt：

cmake_minimum_required(VERSION 2.8.3)
project(bspline_opt)

set(CMAKE_BUILD_TYPE "Release")
# set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall")

find_package(Eigen3 REQUIRED)
find_package(PCL 1.7 REQUIRED)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  visualization_msgs
  plan_env
  active_perception
  cv_bridge
#   nlopt
)
find_package(NLopt REQUIRED)
set(NLopt_INCLUDE_DIRS ${NLOPT_INCLUDE_DIR})

catkin_package(
 INCLUDE_DIRS include
 LIBRARIES bspline_opt
 CATKIN_DEPENDS plan_env active_perception
#  DEPENDS system_lib
)

include_directories( 
    SYSTEM 
    include 
    ${catkin_INCLUDE_DIRS}
    ${Eigen3_INCLUDE_DIRS} 
    ${PCL_INCLUDE_DIRS}
    ${NLOPT_INCLUDE_DIR}
)

add_library( bspline_opt 
    src/bspline_optimizer.cpp 
    )
target_link_libraries( bspline_opt
    ${catkin_LIBRARIES} 
    ${NLOPT_LIBRARIES}
    # /usr/local/lib/libnlopt.so
    )  

运行launch文后在rviz中点击2D Nav Goal出现错误如图：

解决

在github讨论区寻找，寻找解决方法：
https://github.com/yzhangec/Exploration-with-Global-Consistency/issues/1
https://github.com/HKUST-Aerial-Robotics/FUEL/issues/44#issue-1362103418

1.依然选择编译安装nlopt并修改bspline_opt的CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(bspline_opt)

set(CMAKE_BUILD_TYPE "Release")
# set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall")

find_package(Eigen3 REQUIRED)
find_package(PCL 1.7 REQUIRED)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  visualization_msgs
  plan_env
  active_perception
  cv_bridge
#   nlopt
)

list(APPEND CMAKE_FIND_ROOT_PATH $(CMAKE_SOURCE_DIR))
set(CMAKE_PREFIX_PATH "/usr/local/lib/cmake/nlopt")
find_package(nlopt)

catkin_package(
 INCLUDE_DIRS include
 LIBRARIES bspline_opt
 CATKIN_DEPENDS plan_env active_perception
#  DEPENDS system_lib
)

include_directories( 
    SYSTEM 
    include 
    ${catkin_INCLUDE_DIRS}
    ${Eigen3_INCLUDE_DIRS} 
    ${PCL_INCLUDE_DIRS}
    ${NLOPT_INCLUDE_DIR}
)


add_library( bspline_opt 
    src/bspline_optimizer.cpp 
    )
target_link_libraries( bspline_opt
    ${catkin_LIBRARIES} 
    ${NLOPT_LIBRARIES}
    /usr/local/lib/libnlopt.so
    )  

2.修改fuel_planner/path_searching/src/kinodynamic_astar.cpp的653行：

//	int idx = floor((time - time_origin_) * inv_time_resolution_); 
return floor((time - time_origin_) * inv_time_resolution_);

两个都修改后无人机虽然不显示小飞机模型但可以正常探索：