ubuntu16.04 安装 RotorS

按照官网的介绍进行安装，难度不大，记录一下

https://github.com/ethz-asl/rotors_simulator
按照下边的步骤：
1 进行安装的

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
$ wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
$ sudo apt-get update
$ sudo apt-get install ros-kinetic-desktop-full ros-kinetic-joy ros-kinetic-octomap-ros ros-kinetic-mavlink python-wstool python-catkin-tools protobuf-compiler libgoogle-glog-dev ros-kinetic-control-toolbox ros-kinetic-mavros
$ sudo rosdep init
$ rosdep update
$ source /opt/ros/kinetic/setup.bash

中间遇到一个问题：查找资料进行解决
安装rotors出现“raw.githubusercontent.com (raw.githubusercontent.com)|:😐:443… 失败：拒绝连接。“问题

2 工作区建立

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace  # initialize your catkin workspace
$ wstool init
$ wget https://raw.githubusercontent.com/ethz-asl/rotors_simulator/master/rotors_hil.rosinstall
$ wstool merge rotors_hil.rosinstall
$ wstool update

截图过程中的几个图片吧

3

$ cd ~/catkin_ws/
$ catkin build

4

$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

进行一个简单节点的测试的

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

无人机模型出现了！！

过程之中出现几个问题：记录一下

问题一： catkin_make 之后出现问题

出现如下的问题，昨天晚上截图没有保存，就这样先记录着吧。 这个是gazebo版本问题，从gazebo从7.0到7.16

Gazebo版本升级7.0—＞7.16（‘Any’ is not a member of ‘gazebo::msgs’）

问题二：fatal error: sdf sdf.hh: No such file or directory include sdf sdf.hh 解决办法

据说这个问题是gazebo版本更换之后，出现的问题

fatal error: sdf sdf.hh: No such file or directory include sdf sdf.hh 解决办法

运行的launch文件的场景记录的

roslaunch rotors_gazebo fixed_wing.launch 

 roslaunch rotors_gazebo three_multicopters_hovering_example.launch 

roslaunch rotors_gazebo mav_hovering_example_with_vi_sensor.launch