Build Issue Note
자잘하게 빌드 이슈해결한 것들 기록.
Agile Autonomy
Learning High-Speed Flight in the Wild 논문 오픈소스 빌드 해결
Reference: https://github.com/uzh-rpg/agile_autonomy/issues/10#issuecomment-981095386
- Install Open3D v0.9.0
git clone --recursive https://github.com/intel-isl/Open3D
git checkout v0.9.0
git submodule update --init --recursive
./util/scripts/install-deps-ubuntu.sh
mkdir build
cd build
cmake ..
make -j$(nproc)
sudo make install
- Python 제대로 못잡는 경우 아래와 같이 박아넣기
catkin config —cmake-args -DPYTHON_EXECUTABLE=/usr/bin/python3
- README.md 나온대로 g++/gcc 설정
sudo apt-get install g++-7 gcc-7 # agile autonomy requires old compilers for some reason
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-7 100
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-7 100- Install libraries
sudo apt-get install libfmt-dev
sudo apt-get install --reinstall libffi-dev libp11-kit-dev libc6-dev- (중요) Build error on rotors_hil_interface
/opt/ros/noetic/include/mavlink/v2.0/common/./mavlink_msg_logging_data.h: In function ‘uint16_t mavlink_msg_logging_data_pack_status(uint8_t, uint8_t, int*, mavlink_message_t*, uint8_t, uint8_t, uint16_t, uint8_t, uint8_t, const uint8_t*)’:
/opt/ros/noetic/include/mavlink/v2.0/common/./mavlink_msg_logging_data.h:134:74: error: cannot convert ‘int*’ to ‘mavlink::mavlink_status_t*’ {aka ‘mavlink::__mavlink_status*’}위와 같은 종류의 에러가 생길 시 src/rotors_simulator/rotors_hil_interface/include/rotors_hil_interface/hil_interface.h 에 아래와 같이 추가해준다.
#ifndef MAVLINK_H
typedef mavlink::mavlink_message_t mavlink_message_t;
typedef mavlink::mavlink_status_t mavlink_status_t; // 이거 추가
#include <mavlink/v2.0/common/mavlink.h>
#endifReference
- (중요) Deactivate anaconda in ~/.zshrc (also check PATH, LD_LIBRARY_PATH)
자동으로 conda activate 되고, PATH 와 LD_LIBRARY_PATH 연결되면 base 에 설치된 라이브러리들이 잡혀서 꼬이는 경우 발생
pyqt 에러는 conda PATH 를 연결한 후 해결되었음.
gzserver: symbol lookup error:
gzserver: symbol lookup error: /home/as06047/agile_autonomy_ws/catkin_aa/devel/lib/librotors_gazebo_multirotor_base_plugin.so: undefined symbol: _ZN14gz_sensor_msgs9ActuatorsC1Ev 에러
Reference
요약하면 PX4-Autopilot 과 Rotors 의 shared object 가 충돌하는 문제
나의 경우, /home/as06047/PX4-Autopilot/build/px4_sitl_default/build_gazebo-classic 에 있는 libmav_msgs.so 와
/home/as06047/agile_autonomy_ws/catkin_aa/build/rotors_gazebo_plugins 에 있는 libmav_msgs.so 가 충돌했음.
PX4 에 있는 .so 파일을 임시로 이름변경을 해준 후 실행(빌드 필요X)
- ImportError: /lib/x86_64-linux-gnu/libp11-kit.so.0: undefined symbol: ffi_type_pointer, version LIBFFI_BASE_7.0
conda create --name agile_autonomy -c conda-forge python=3.7.8
conda activate agile_autonomy
pip install tensorflow-gpu==2.4 rospkg==1.2.3 pyquaternion open3d opencv-python netifacesERRT 빌드 이슈 해결
Dockerfile에apt-get install하는 부분에 패키지 추가
&& apt-get install -y ros-noetic-move-base-msgs \- 로컬 빌드하는 경우
sudo apt-get update
sudo apt-get --with-new-pkgs upgrade -y
sudo apt-get install -y mesa-utils \
libgl1-mesa-glx \
vim \
tmuxinator \
python3-catkin-tools \
python3-osrf-pycommon \
python3-pip \
libtbb-dev \
ros-noetic-octomap-server \
ros-noetic-octomap-ros \
ros-noetic-octomap-rviz-plugins \
ros-noetic-octomap-mapping \
libtool \
libgoogle-glog-dev \
libnlopt-dev \
libsuitesparse-dev \
ros-noetic-nlopt \
liblapacke-dev \
ros-noetic-gtsam \
ros-noetic-rosmon \
iputils-ping \
apt-transport-https ca-certificates \
openssh-server python3-pip exuberant-ctags \
git vim tmux nano htop sudo curl wget gnupg2 \
bash-completion \
libcanberra-gtk3-0 \
ros-noetic-gmapping ros-noetic-slam-gmapping ros-noetic-openslam-gmapping \
ros-noetic-joy \
ros-noetic-twist-mux \
ros-noetic-interactive-marker-twist-server \
ros-noetic-fath-pivot-mount-description \
ros-noetic-flir-camera-description \
ros-noetic-realsense2-description \
ros-noetic-lms1xx \
ros-noetic-robot-localization \
ros-noetic-teleop-twist-keyboard \
ros-noetic-teleop-twist-joy \
ros-noetic-rviz-imu-plugin \
ros-noetic-gmapping \
ros-noetic-mavros-msgs \
ros-noetic-move-base-msgs
python3 -m pip3 install opengen
python3 -m pip3 install gdown
git clone https://github.com/ethz-asl/eigen_checks.git
git clone https://github.com/catkin/catkin_simple.git
git clone https://github.com/ethz-asl/eigen_catkin.git
git clone https://github.com/ntnu-arl/lidar_simulator.git
git clone https://github.com/ethz-asl/mav_comm.git
git clone https://github.com/ros-planning/navigation_msgs.git
git clone https://github.com/ethz-asl/numpy_eigen.git
git clone --branch melodic-devel https://github.com/ros-perception/perception_pcl.git
git clone https://github.com/ros/xacro.git
git clone https://github.com/ethz-asl/catkin_boost_python_buildtool.git
git clone https://github.com/LTU-RAI/darpa_subt_worlds.git
git clone https://github.com/LTU-RAI/rotors_simulator.git && cd rotors_simulator && git pull
git clone https://github.com/LTU-RAI/ufomap.git
git clone https://github.com/LTU-RAI/geometry2.git
git clone https://github.com/aakapatel/mav_control_rw.git
sudo apt-get update && sudo apt-get install -y \
ros-noetic-tf2-sensor-msgs \
python3-catkin-tools \
python3-osrf-pycommon \
libtbb-dev \
qtbase5-dev \
qtdeclarative5-dev \
libqt5x11extras5-dev
# rotors_gazebo_plugins 에서 add_compile_options(-std=c++17) 추가
git clone https://github.com/LTU-RAI/ExplorationRRT.git
/bin/bash -c 'source $HOME/.cargo/env; cd /home/$USERNAME/catkin_ws/src/ExplorationRRT; python3 rrt_costgen.py'
catkin build errt
roslaunch errt server.launch
roslaunch errt errt.launch
roslaunch rotors_gazebo errt_mav.launch
roslaunch mav_linear_mpc mav_linear_mpc_sim.launch mav_name:=hummingbird
rosservice call /hummingbird/takeoff "{}"위 스크립트 그대로 사용. 주요 사항은
- python 파일 cargo 이용해서 빌드
- rotors_gazebo_plugins 에다가 add_compile_options(-std=c++17) 추가
mav_voxblox_planning 빌드 이슈 해결
- 빠진 디펜던시 추가
git clone https://github.com/ethz-asl/protobuf_catkin.git
catkin build protobuf_catkin- ompl 설치
sudo apt-get install libompl-dev- PCL C++14
- voxblox_skeleton
- voxblox_skeleton_planner
- mav_planning_benchmark
- mav_local_planner
위 패키지들 CMakeLists.txt 에서 옵션 수정
add_definitions(-std=c++14)
- voxblox_skeleton 소스코드 수정
voxblox_skeleton/src/io/skeleton_io.cpp 에서
// From
uint32_t tmp_byte_offset = 0;
// to
uint64_t tmp_byte_offset = 0;