Gazebo学习（二）Ubuntu20.04配置RotorS+Gazebo11

嘎咕Boom

已于 2024-09-13 18:48:08 修改

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于 2024-06-06 22:31:39 首次发布

本文链接：https://blog.youkuaiyun.com/Jenniehubby/article/details/139510699

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series：

Gazebo学习（一）Ubuntu20.04安装ROS+gazebo11+模型库导入（汇总跳转连接+个人安装记录）_gazebo模型库-优快云博客

Gazebo学习（二）Ubuntu20.04配置RotorS+Gazebo11_rotors simulator ubuntu20.04-优快云博客

**救命终于配置出来环境了，中途还轻轻rm掉了好些东西找不回来了泪目**

*官方代码链接:GitHub - ethz-asl/rotors_simulator: RotorS is a UAV gazebo simulator*

*参考教程：https://www.guyuehome.com/16351*

一、准备工作

1.安装ROS与Gazebo11

*参考教程：

Gazebo学习（一）Ubuntu20.04安装ROS+gazebo11+模型库导入（汇总跳转连接+个人安装记录）_gazebo模型库-优快云博客文章浏览阅读3.9k次，点赞11次，收藏70次。记录在Ubuntu20.04中安装ROS和Gazebo过程，汇总了找到的链接以及记录个人遇到问题及解决方法。_gazebo模型库https://blog.youkuaiyun.com/Jenniehubby/article/details/134780066?spm=1001.2014.3001.5501

2.安装wstool

sudo apt install python3-wstool

二、源码下载编译

1.创建ROS工程

mkdir -p ~/UAV/src

cd ~/UAV/src

catkin_init_workspace

wstool init

2.下载源码

git clone https://github.com/ethz-asl/rotors_simulator.git

3.下载所需要配置文件

*注：这里满的话可能需要挂梯子或者换源，以及需要登陆自己的Github账号才有权限，直接运行指令不成功可以去Github对应仓库自行下载放在scr目录下*

*无权限可参考教程：Linux——使用github提示错误Please make sure you have the correct access rights and the repository exists._linux please make sure you have the correct access-优快云博客文章浏览阅读3.5k次，点赞6次，收藏10次。文章目录1. 问题描述2. 解决方法2.1 设置用户信息2.2 删除旧配置文件生成配置文件登记KEY测试1. 问题描述今天在使用git clone命令时出现了下面的提示Please make sure you have the correct access rights and the repository exists.很懵呀，以前都没遇到过，谷歌了下，发现是SSH KEY的问题，需要重新添加KEY才阔以，解决方法如下。2. 解决方法2.1 设置用户信息打开一个命令窗口，输入：git _linux please make sure you have the correct access rights and the repositoryhttps://blog.youkuaiyun.com/qq_16775293/article/details/109329492

git clone https://github.com/ethz-asl/mav_comm.git

git clone https://github.com/ethz-asl/glog_catkin.git

git clone https://github.com/ethz-asl/catkin_simple.git

4.编译环境

cd ..

catkin_make

**如果编译[100%]，恭喜你丝滑编译成功！！！如果冒红没关系看后面的ERROR解决大法～**

三、测试运行

source devel/setup.bash

roslaunch rotors_gazebo mav_hovering_example.launch mav_name:=firefly world_name:=basic

四、编译可能遇到问题

*参考教程：ROS——工程编译出错：Could not find a package configuration file provided by-优快云博客文章浏览阅读2.2w次，点赞34次，收藏110次。文章目录问题描述解决方法问题描述在catkin_make 编译ROS工程时，通常会出现如下的错误：-- Could NOT find octomap_ros (missing: octomap_ros_DIR)-- Could not find the required component 'octomap_ros'. The following CMake error indicates that you either need to install the package with the_could not find a package configuration file provided by "octomap" with any ohttps://blog.youkuaiyun.com/qq_16775293/article/details/109330494

1.缺少相关安装包

报错：

CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "octomap_ros" with
  any of the following names:

    octomap_rosConfig.cmake
    octomap_ros-config.cmake

  Add the installation prefix of "octomap_ros" to CMAKE_PREFIX_PATH or set
  "octomap_ros_DIR" to a directory containing one of the above files.  If
  "octomap_ros" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  rotors_simulator/rotors_gazebo_plugins/CMakeLists.txt:106 (find_package)

解决：

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

同理会有其他同样格式出现的未安装包出现，以同样方法运行下面代码，将“octomap-msgs”部分替换成报错中“xxConfig.cmake”中的xx：

sudo apt-get install ros-noetic-xx

2.CMake Error

报错：

CMake Error at rotors_simulator/rotors_gazebo_plugins/cmake/FindGlog.cmake:77 (MESSAGE):
  Failed to find glog - Could not find glog include directory, set
  GLOG_INCLUDE_DIR to directory containing glog/logging.h
Call Stack (most recent call first):
  rotors_simulator/rotors_gazebo_plugins/cmake/FindGlog.cmake:103 (GLOG_REPORT_NOT_FOUND)
  rotors_simulator/rotors_gazebo_plugins/CMakeLists.txt:147 (find_package)


-- Configuring incomplete, errors occurred!

解决：

sudo apt-get install libgoogle-glog-dev

3.无法定位软件包 ros-noetic-desktop-full

解决：

sudo apt update

sudo apt install ros-noetic-desktop-full

4.rotors_gazebo_plugins build fail

解决：

打开：~/UAV/src/rotors_simulator/rotors_gazebo_plugins/CMakeLists.txt

将“add_definitions(-std=c++11)”修改成：

add_definitions(-std=c++17)

5.其他

*参考教程：

ROS——无人机ROS仿真包 rotors_simulator 编译教程_rotos simulator教程-优快云博客文章浏览阅读4.1k次，点赞8次，收藏61次。文章目录安装wstoolsudo apt install python3-wstool创建ROS工程$ mkdir -p ~/UAV/src$ cd ~/UAV/src$ catkin_init_workspace # initialize your catkin workspace$ wstool init下载源码git clone git@github.com:ethz-asl/rotors_simulator.git源码链接：https://github.com/eth_rotos simulator教程https://blog.youkuaiyun.com/qq_16775293/article/details/109329022?spm=1001.2014.3001.5506

Issues · ethz-asl/rotors_simulator · GitHubRotorS is a UAV gazebo simulator. Contribute to ethz-asl/rotors_simulator development by creating an account on GitHub.https://github.com/ethz-asl/rotors_simulator/issues

**以上为我所遇到的各种问题，如果还有其他问题可以查询一下上面两个链接参考,也欢迎评论区交流**