PX4-Autopilot Installation
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
bash ./PX4-Autopilot/Tools/setup/ubuntu.sh --no-nuttx
# Error
Installing PX4 Python3 dependencies
AttributeError: module 'lib' has no attribute 'X509_V_FLAG_CB_ISSUER_CHECK'
# Solve
# https://stackoverflow.com/a/75295873
sudo rebootcd ~/PX4-Autopilot
make px4_sitl_default gazebo-classic
# 생략
px4 starting.
INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
INFO [init] found model autostart file as SYS_AUTOSTART=10015
INFO [param] selected parameter default file parameters.bson
INFO [param] selected parameter backup file parameters_backup.bson
SYS_AUTOCONFIG: curr: 0 -> new: 1
SYS_AUTOSTART: curr: 0 -> new: 10015
CAL_ACC0_ID: curr: 0 -> new: 1310988
CAL_GYRO0_ID: curr: 0 -> new: 1310988
CAL_ACC1_ID: curr: 0 -> new: 1310996
CAL_GYRO1_ID: curr: 0 -> new: 1310996
CAL_ACC2_ID: curr: 0 -> new: 1311004
CAL_GYRO2_ID: curr: 0 -> new: 1311004
CAL_MAG0_ID: curr: 0 -> new: 197388
CAL_MAG0_PRIO: curr: -1 -> new: 50
CAL_MAG1_ID: curr: 0 -> new: 197644
CAL_MAG1_PRIO: curr: -1 -> new: 50
SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
INFO [dataman] data manager file './dataman' size is 7866664 bytes
etc/init.d-posix/rcS: 39: [: Illegal number:
INFO [init] PX4_SIM_HOSTNAME: localhost
INFO [simulator_mavlink] Waiting for simulator to accept connection on TCP port 4560
INFO [simulator_mavlink] Simulator connected on TCP port 4560.
INFO [lockstep_scheduler] setting initial absolute time to 3752000 us
Gazebo multi-robot simulator, version 11.13.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.35.90
INFO [commander] LED: open /dev/led0 failed (22)
WARN [health_and_arming_checks] Preflight Fail: ekf2 missing data
INFO [tone_alarm] home set
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
INFO [logger] logger started (mode=all)
INFO [logger] Start file log (type: full)
INFO [logger] [logger] ./log/2023-09-16/06_30_48.ulg
INFO [logger] Opened full log file: ./log/2023-09-16/06_30_48.ulg
INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO [px4] Startup script returned successfully
pxh> INFO [tone_alarm] notify negative
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/as06047/catkin_ws/src/gazebo_models/.git"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/as06047/catkin_ws/src/kepco_sim-master/gazebo_env/gazebo_map/world"
INFO [commander] Ready for takeoff!
source ~/catkin_ws/devel/setup.bash # (optional)
source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/simulation/gazebo-classic/sitl_gazebo-classic
roslaunch px4 posix_sitl.launch
Edited on Aug. 02
bullet 관련 에러 발생 시 해결법 정리
-- Checking for module 'bullet>=2.82'
-- No package 'bullet' found
-- Checking for module 'bullet2.82>=2.82'
-- No package 'bullet2.82' found
CMake Error at /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:102 (message):
Error: Bullet > 2.82 not found, please install libbullet2.82-dev.