您的位置：首页 > 文旅 > 旅游 > XTDrone-无人机与无人船协同初步-配置教程

XTDrone-无人机与无人船协同初步-配置教程

2024/12/23 12:20:47 来源：https://blog.csdn.net/weixin_47776213/article/details/139736604  浏览:  次  关键词：XTDrone-无人机与无人船协同初步-配置教程
说明：配置该教程时所使用的是Ubuntu20.04

1 海洋与无人船仿真环境搭建

cp -r ~/XTDrone/sitl_config/usv/* ~/catkin_ws/src/
cd catkin_ws
catkin build # or catkin_make

说明：由于官方所编写的脚本时几年之前的，所以很多东西不符合现在运行环境，因此编译时会出现很多报错，这是正常的，只需要按照提示进行修改就行。下面将是详细的报错解决办法，此外，为了节省解决报错的时间，我已将所有与关于本次配置相关的修改过的CmakeList.txt文件完整版均放在文章末尾，只需按照你的路径进行相应的修改即可使用，记得每次修改后要先保存再进行编译。

警告1

文件目录：/home/你的主机名/catkin_ws/src/wave_gazebo_plugins

这个警告指的是CMake策略CMP0054的旧行为即将被移除。CMake策略用于控制构建过程中的某些特定行为，当一个策略被标记为旧（OLD）时，意味着它在未来的CMake版本中可能会被移除，应该尽量使用新的（NEW）行为。

解决方案

为了消除这个警告，可以更新CMakeLists.txt文件中对应的策略设置。你可以查找并更新或添加以下行以使用新的行为：
cmake_policy(SET CMP0054 NEW)
具体步骤如下：
  1. 打开CMakeLists.txt文件。
  2. 找到第25行（或者附近）使用了cmake_policy指令的地方。
  3. 确保这一行是：
cmake_policy(SET CMP0054 NEW)
或者，如果没有这行指令，可以添加：
cmake_policy(SET CMP0054 NEW)
为什么会有这个警告？
CMake策略CMP0054涉及到如何处理if命令中的不明确表达式。在设置为旧行为（OLD）时，CMake会把字符串"0"、"FALSE"等视为布尔假值。在新行为（NEW）中，只有明确的布尔假值（例如OFF、NO等）会被视为假。

警告2 （usv_gazebo_plugins的也同理）

文件目录：/home/你的主机名/catkin_ws/src/usv_gazebo_plugins

 警告3

修改后的内容：用以解决警告（修改后记得保存）
std::string ShapeVolume::Display()
{switch (type){case ShapeType::None:return "None";case ShapeType::Box:return "Box";case ShapeType::Cylinder:return "Cylinder";case ShapeType::Sphere:return "Sphere";default:return "Unknown"; // 或者一个适当的默认值}
}

警告4

OLD->NEW即可
文件目录/home/你的主机名/catkin_ws/src/wamv_gazebo

警告5 

同理，但是有两个地方，文件路径/home/ray/catkin_ws/src/vrx_gazebo

报错1

这意味着编译过程中尝试运行 python，但系统找不到这个命令。这通常是因为系统中没有安装 Python，或者 Python 安装在一个不同的路径下，或者系统中默认的 Python 解释器名称是 python3 而不是 python。

解决方案

以下是几种可能的解决方法：

  1. 创建符号链接： 如果系统中安装了 Python 3，但没有 python 命令，可以创建一个符号链接，将 python 指向 python3：

    sudo ln -s /usr/bin/python3 /usr/bin/python

  2. 修改脚本使用 python3： 如果可能的话，找到调用 Python 的地方，将 python 改为 python3。例如，在 CMakeLists.txt 或相关脚本中：

    /usr/bin/env python3

  3. 安装 Python： 如果系统中没有安装 Python，可以安装 Python。对于 Ubuntu 或其他基于 Debian 的系统，可以使用以下命令：

    sudo apt update
sudo apt install python2

    如果需要安装 Python 3：

    sudo apt update
sudo apt install python3

查找和修改脚本

a.查找项目中使用 python 的地方：

grep -r "/usr/bin/env python" /home/ray/catkin_ws/src/vrx_gazebo
这将显示所有包含 "/usr/bin/env python" 的文件路径。

b.编辑这些文件：

使用文本编辑器打开这些文件，并将 python 改为 python3。例如：
#!/usr/bin/env python3
完成上述步骤后，重新运行编译命令：
cd catkin_ws
catkin build
再次编译之后，又会出现新的警告和报错

警告1

这个警告是关于 CMake 的策略 CMP0048 的，它指出在 CMakeLists.txt 文件中的 project() 命令没有显式设置项目的版本信息，导致一些相关的 CMake 变量可能会被设置为空。这种警告通常不会导致编译失败，但建议根据最新的 CMake 策略设置来更新项目文件，以避免潜在的问题。

解决方案

由于其版本较老，不适合现在的应用，所以，最好对整个CMakeLists.txt 文件进行修改，修改后的文件如下：（可复制粘贴）
cmake_minimum_required(VERSION 3.0)
project(wave_gazebo_plugins VERSION 1.0.0)###############################################################################
# Compile as C++11, supported in ROS Noetic and newerset(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)# Set policy for CMake 3.1+. Use OLD policy to let FindBoost.cmake, dependency
# of gazebo, use quoted variables in if()
if(POLICY CMP0048)cmake_policy(SET CMP0048 NEW)
endif()###############################################################################
# Other dependencies...find_package(catkin REQUIRED COMPONENTS gazebo_ros)
find_package(gazebo REQUIRED)
find_package(Eigen3 REQUIRED)############################################################################### 
# Catkin...catkin_package(INCLUDE_DIRS includeLIBRARIESHydrodynamicsWavefieldModelPluginWavefieldVisualPluginwavegauge_pluginDEPENDSgazebo_ros
)############################################################################### 
# Libraries...# Hydrodynamics
add_library(HydrodynamicsSHAREDsrc/Gazebo.ccsrc/Geometry.ccsrc/PhysicalConstants.ccsrc/Physics.ccsrc/Utilities.ccsrc/Wavefield.ccsrc/WavefieldEntity.cc
)target_include_directories(HydrodynamicsPRIVATE${PROJECT_SOURCE_DIR}/include${Boost_INCLUDE_DIRS}${catkin_INCLUDE_DIRS}${EIGEN3_INCLUDE_DIR}${GAZEBO_INCLUDE_DIRS}${GAZEBO_MSG_INCLUDE_DIRS}${IGNITION-COMMON_INCLUDE_DIRS}${IGNITION-MATHS_INCLUDE_DIRS}${IGNITION-MSGS_INCLUDE_DIRS}
)target_link_directories(HydrodynamicsPRIVATE${GAZEBO_LIBRARY_DIRS}${IGNITION-COMMON_LIBRARY_DIRS}${IGNITION-MATHS_LIBRARY_DIRS}${IGNITION-MSGS_LIBRARY_DIRS}
)target_link_libraries(Hydrodynamics${Boost_LIBRARIES}${catkin_LIBRARIES}${GAZEBO_LIBRARIES}
)target_compile_features(Hydrodynamics PRIVATE cxx_std_14)
target_compile_options(Hydrodynamics PRIVATE "-Wno-unknown-pragmas")list(APPEND WAVE_GAZEBO_LIBRARIES_LIST Hydrodynamics)############################################################################### 
# Plugins...# WavefieldModelPlugin
add_library(WavefieldModelPluginSHAREDsrc/WavefieldModelPlugin.cc
)target_link_libraries(WavefieldModelPlugin${Boost_LIBRARIES}${catkin_LIBRARIES}${GAZEBO_LIBRARIES}${WAVE_GAZEBO_LIBRARIES_LIST}
)target_compile_features(WavefieldModelPlugin PRIVATE cxx_std_14)
target_compile_options(WavefieldModelPlugin PRIVATE "-Wno-unknown-pragmas")list(APPEND WAVE_GAZEBO_PLUGINS_LIST WavefieldModelPlugin)# WavefieldVisualPlugin
add_library(WavefieldVisualPluginSHAREDsrc/WavefieldVisualPlugin.cc
)target_link_libraries(WavefieldVisualPlugin${Boost_LIBRARIES}${catkin_LIBRARIES}${GAZEBO_LIBRARIES}${WAVE_GAZEBO_LIBRARIES_LIST}
)target_compile_features(WavefieldVisualPlugin PRIVATE cxx_std_14)
target_compile_options(WavefieldVisualPlugin PRIVATE "-Wno-unknown-pragmas")list(APPEND WAVE_GAZEBO_PLUGINS_LIST WavefieldVisualPlugin)# WavegaugePlugin
add_library(wavegauge_pluginSHAREDsrc/wavegauge_plugin.cc
)target_link_libraries(wavegauge_pluginWavefieldModelPlugin${Boost_LIBRARIES}${catkin_LIBRARIES}${GAZEBO_LIBRARIES}${WAVE_GAZEBO_LIBRARIES_LIST}
)add_dependencies(wavegauge_plugin WavefieldModelPlugin)target_compile_features(wavegauge_plugin PRIVATE cxx_std_14)
target_compile_options(wavegauge_plugin PRIVATE "-Wno-unknown-pragmas")list(APPEND WAVE_GAZEBO_PLUGINS_LIST wavegauge_plugin)############################################################################### 
# Executables...############################################################################### 
# Tests...if(CATKIN_ENABLE_TESTING)catkin_add_gtest(UNIT_Wavefield_TEST src/Wavefield_TEST.cc)target_link_libraries(UNIT_Wavefield_TEST ${WAVE_GAZEBO_LIBRARIES_LIST})target_compile_features(UNIT_Wavefield_TEST PRIVATE cxx_std_14)target_compile_options(UNIT_Wavefield_TEST PRIVATE "-Wno-unknown-pragmas")endif()############################################################################### 
# Installinstall(TARGETS${WAVE_GAZEBO_LIBRARIES_LIST}${WAVE_GAZEBO_PLUGINS_LIST}wavegauge_pluginARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)install(DIRECTORY include/${PROJECT_NAME}/DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}FILES_MATCHING PATTERN "*.hh"
)install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}FILES_MATCHING PATTERN "*.pb.*"
)

 警告2 同理进行修改即可

修改后的完整文件：
cmake_minimum_required(VERSION 3.0)
project(usv_gazebo_plugins VERSION 1.0.0)# Set policy for CMake 3.1+. Use OLD policy to let FindBoost.cmake, dependency
# of gazebo, use quoted variables in if()
if(POLICY CMP0048)cmake_policy(SET CMP0048 NEW)
endif()find_package(catkin REQUIRED COMPONENTS gazebo_dev roscpp message_generation xacro wave_gazebo_plugins usv_msgs)
find_package(Eigen3 REQUIRED)###################################
## catkin specific configuration ##
###################################catkin_package(INCLUDE_DIRS includeCATKIN_DEPENDS message_runtime gazebo_dev roscpp wave_gazebo_plugins
)# Plugins require c++14set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)include_directories( include${catkin_INCLUDE_DIRS}${EIGEN3_INCLUDE_DIRS}
)
link_directories(${catkin_LIBRARY_DIRS}
)## Declare a C++ library
add_library(buoyancy_gazebo_pluginsrc/buoyancy_gazebo_plugin.ccsrc/shape_volume.ccsrc/polyhedron_volume.cc
)
target_link_libraries(buoyancy_gazebo_plugin${catkin_LIBRARIES}${GAZEBO_LIBRARIES}${Eigen_LIBRARIES}
)
install(TARGETS buoyancy_gazebo_pluginARCHIVE DESTINATION libLIBRARY DESTINATION libRUNTIME DESTINATION bin
)## Declare a C++ library
add_library(usv_gazebo_dynamics_pluginsrc/usv_gazebo_dynamics_plugin.cc
)
target_link_libraries(usv_gazebo_dynamics_plugin${catkin_LIBRARIES}${Eigen_LIBRARIES}
)
install(TARGETS usv_gazebo_dynamics_pluginARCHIVE DESTINATION libLIBRARY DESTINATION libRUNTIME DESTINATION bin
)## Declare a C++ library
add_library(usv_gazebo_thrust_pluginsrc/usv_gazebo_thrust_plugin.cc
)
target_link_libraries(usv_gazebo_thrust_plugin${catkin_LIBRARIES}${Eigen_LIBRARIES}
)
install(TARGETS usv_gazebo_thrust_pluginARCHIVE DESTINATION libLIBRARY DESTINATION libRUNTIME DESTINATION bin
)## Declare a C++ library
add_library(usv_gazebo_wind_pluginsrc/usv_gazebo_wind_plugin.cc
)
target_link_libraries(usv_gazebo_wind_plugin${catkin_LIBRARIES}${Eigen_LIBRARIES}
)
install(TARGETS usv_gazebo_wind_pluginARCHIVE DESTINATION libLIBRARY DESTINATION libRUNTIME DESTINATION bin
)## Declare a C++ library
add_library(usv_gazebo_acoustic_pinger_pluginsrc/acoustic_pinger_plugin.cc
)
add_dependencies(usv_gazebo_acoustic_pinger_plugin usv_msgs_generate_messages_cpp)
target_link_libraries(usv_gazebo_acoustic_pinger_plugin${catkin_LIBRARIES}${Eigen_LIBRARIES}
)
install(TARGETS usv_gazebo_acoustic_pinger_pluginARCHIVE DESTINATION libLIBRARY DESTINATION libRUNTIME DESTINATION bin
)set(XACRO_INORDER)
if(DEFINED ENV{ROS_DISTRO})if($ENV{ROS_DISTRO} STREQUAL "kinetic")set(XACRO_INORDER INORDER)endif()
endif()# Generate demo world files from xacro and install
xacro_add_files(worlds/buoyancy_plugin_demo.world.xacro${XACRO_INORDER} INSTALL DESTINATION worlds
)
install(DIRECTORY worlds/DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/worlds)if(CATKIN_ENABLE_TESTING)# buoyancy plugin testcatkin_add_gtest(buoyancy_plugin_test test/buoyancy_test.cc)target_link_libraries(buoyancy_plugin_test buoyancy_gazebo_plugin)
endif()
 修改完成后，再次编译会先后出现如下的几个报错：

上述这个报错是找不到是因为在编译wave_gazebo_plugins功能包时，出现了无法找到 gazebo/gazebo.hh 和 gazebo/common/Assert.hh 头文件问题。

解决办法：

a.输入如下命令来查询 Gazebo 的安装路径。
pkg-config --cflags gazebo
pkg-config --libs gazebo
输入后会有以下输出：它包含安装路径，版本等
  • --cflags 选项会显示编译时所需的头文件路径。
  • --libs 选项会显示链接时所需的库路径。

 或者输入如下指令直接寻找报错的未寻找到的文件：
find /usr -name gazebo.hh  # 文件名根据你的报错来修改
该命令运行后的正常输入示例如下（安装了gazebo的前提下）

 b. 查询结束后，按照你的查询结果修改如下两条代码，并将其加入到wave_gazebo_plugins功能包的CMakeLists.txt文件中，并保存，确保将 GAZEBO_INCLUDE_DIRS 和 GAZEBO_LIBRARY_DIRS 变量中的路径更新为你实际系统中的路径。
# 根据你所查询到的路径和版本来进行修改
set(GAZEBO_INCLUDE_DIRS "/usr/include/gazebo-9" "/usr/include/sdformat-6.3" "/usr/include/ignition/transport4" "/usr/include/ignition/msgs1" "/usr/include/ignition/math4")
set(GAZEBO_LIBRARY_DIRS "/usr/lib/x86_64-linux-gnu/gazebo-9/plugins")
具体添位置见下图

c.增加如下代码，以确保包含 Gazebo 的头文件路径和有链接 Gazebo 的库文件路径
# 该条代码添加到target_include_directories(Hydrodynamics PRIVATE)中
${GAZEBO_INCLUDE_DIRS} # 确保包含 Gazebo 的 include 路径
target_link_directories(Hydrodynamics
PRIVATE
${GAZEBO_LIBRARY_DIRS} # 确保链接 Gazebo 的库路径
)
具体添加位置见下图

至此，关于编译 wave_gazebo_plugins功能包时，gazebo头文件无法找到的相关报错即可解决。

报错2 以下三个报错均是与找不到与OGRE库相关的头文件有关，因为Gazebo 依赖于 OGRE 进行渲染，所以你需要安装 OGRE 库及其开发文件。

解决方法：

a.输入以下命令确保你的系统已经安装了必要的 OGRE 包
sudo apt-get install libogre-1.9-dev
b. 如果你已经安装了 OGRE，但还是出现找不到头文件的问题，你需要手动指定 OGRE 的包含路径和库路径。在 CMake 文件中，可以添加如下内容：
首先输入如下命令，检查你的OGRE路径
find /usr -name OGRE

然后在 CMake 文件中，分别添加如下内容：
# 添加额外的 OGRE 包含路径，确保找到所需的头文件 根据你上面所查找的路径来改
list(APPEND OGRE_INCLUDE_DIRS "/usr/include/OGRE")
list(APPEND OGRE_INCLUDE_DIRS "/usr/include/OGRE/Paging")
具体添加位置如下图所示

${OGRE_INCLUDE_DIRS}     # 确保包含 OGRE 的额外路径
具体添加位置如下图所示

${OGRE_INCLUDE_DIRS}  # 确保包含 OGRE 的 include 路径
具体添加位置如下图所示

  ${OGRE_LIBRARIES}  # 确保链接 OGRE 库
具体添加位置如下图所示

至此，关于编译 wave_gazebo_plugins功能包时与 OGRE相关的头文件找不到的报错即可解决。由于官方所给的文件版本较老，不适应当前的运行环境，所以我将所有与关于本次配置相关的修改过的CmakeList.txt文件完整版均放在文章末尾，只需按照你的路径进行相应的修改即可使用，记得每次修改后要先保存再进行编译。

保存后，在运行以下代码进行编译

cd catkin_ws/
catkin build

编译成功后就会如下图所示

2 启动仿真

运行如下代码
roslaunch px4 sandisland.launch
运行后会出现如下报错：

解决办法

原因是PX4_Firmware/launch文件夹中并没有sandisland.launch文件，只需将
/home/你的主机名/catkin_ws/src/vrx_gazebo/launch目录下的sandisland.launch文件复制放在PX4_Firmware/launch中即可

成功运行sandisland.launch文件的效果如下图所示，但是你会发现在仿真环境中并没有无人机，与官网上的视频不同。

解决办法

利用多无人机生成脚本生成多无人机启动launch文件，详细教程见：XTDrone-多机仿真-配置教程-CSDN博客
然后将启动文件中生生成多无人机部分代码加入到PX4_Firmware/launch下的sandisland.launch文件中，并修改相应的位置参数，修改后的完整sandisland.launch文件如下：(可直接复制粘贴，修改后记得保存)
<?xml version="1.0"?>
<launch><env name="ROSCONSOLE_CONFIG_FILE" value="$(find vrx_gazebo)/config/custom_rosconsole.conf"/><!-- Gazebo world to load --><arg name="world" default="$(find vrx_gazebo)/worlds/example_course.world" /><!-- If true, run gazebo GUI --><arg name="gui" default="true" /><!-- If true, run gazebo in verbose mode --><arg name="verbose" default="false"/><!-- If true, start in paused state --><arg name="paused" default="false"/><!-- Set various other gazebo arguments--><arg name="extra_gazebo_args" default=""/><!-- Start in a default namespace --><arg name="namespace" default="wamv"/><!-- Initial USV location and attitude--><arg name="x" default="158" /><arg name="y" default="108" /><arg name="z" default="0.1" /><arg name="P" default="0" /><arg name="R" default="0" /><arg name="Y" default="-2.76" /><!-- If true, show non-competition ROS topics (/gazebo/model_states, /vrx/debug/wind/direction, etc.)--><arg name="non_competition_mode" default="true"/><arg name="enable_ros_network" value="$(arg non_competition_mode)"/><env name="VRX_DEBUG" value="$(arg non_competition_mode)"/><env unless="$(arg non_competition_mode)" name="GAZEBO_MODEL_PATH" value="$(find vrx_gazebo)/models:$(find wamv_gazebo)/models:$(find wamv_description)/models:$(optenv GAZEBO_MODEL_PATH)"/><!-- Allow user specified thruster configurationsH = stern thrusters on each hullT = H with a lateral thrusterX = "holonomic" configuration --><arg name="thrust_config" default="H" /><!-- Do you want to enable sensors? --><arg name="camera_enabled" default="false" /><arg name="gps_enabled" default="false" /><arg name="imu_enabled" default="false" /><arg name="lidar_enabled" default="false" /><arg name="ground_truth_enabled" default="false" /><!-- Start Gazebo with the world file --><include file="$(find gazebo_ros)/launch/empty_world.launch"><arg name="world_name" value="$(arg world)"/><arg name="verbose" value="$(arg verbose)"/><arg name="paused" value="$(arg paused)"/><arg name="use_sim_time" value="true"/><arg name="gui" value="$(arg gui)" /><arg name="enable_ros_network" value="$(arg enable_ros_network)"/><arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)"/></include><!-- Load robot model --><arg name="urdf" default="$(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro"/><param name="$(arg namespace)/robot_description" command="$(find xacro)/xacro --inorder '$(arg urdf)' thruster_config:=$(arg thrust_config) camera_enabled:=$(arg camera_enabled) gps_enabled:=$(arg gps_enabled) imu_enabled:=$(arg imu_enabled) lidar_enabled:=$(arg lidar_enabled) ground_truth_enabled:=$(arg ground_truth_enabled) namespace:=$(arg namespace)"/><!-- 添加无人机 --><!-- iris_0 --><group ns="iris_0"><!-- MAVROS and vehicle configs --><arg name="ID" value="0"/><arg name="ID_in_group" value="0"/><arg name="fcu_url" default="udp://:24540@localhost:34580"/><!-- PX4 SITL and vehicle spawn --><include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch"><arg name="x" value="170"/><arg name="y" value="120"/><arg name="z" value="2"/><arg name="R" value="0"/><arg name="P" value="0"/><arg name="Y" value="0"/><arg name="vehicle" value="iris"/><arg name="sdf" value="iris_stereo_camera"/><arg name="mavlink_udp_port" value="18570"/><arg name="mavlink_tcp_port" value="4560"/><arg name="udp_gimbal_port" value="13030"/><arg name="ID" value="$(arg ID)"/><arg name="ID_in_group" value="$(arg ID_in_group)"/></include><!-- MAVROS --><include file="$(find mavros)/launch/px4.launch"><arg name="fcu_url" value="$(arg fcu_url)"/><arg name="gcs_url" value=""/><arg name="tgt_system" value="$(eval 1 + arg('ID'))"/><arg name="tgt_component" value="1"/></include></group><!-- iris_1 --><group ns="iris_1"><!-- MAVROS and vehicle configs --><arg name="ID" value="1"/><arg name="ID_in_group" value="1"/><arg name="fcu_url" default="udp://:24541@localhost:34581"/><!-- PX4 SITL and vehicle spawn --><include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch"><arg name="x" value="170"/><arg name="y" value="116"/><arg name="z" value="2"/><arg name="R" value="0"/><arg name="P" value="0"/><arg name="Y" value="0"/><arg name="vehicle" value="iris"/><arg name="sdf" value="iris_stereo_camera"/><arg name="mavlink_udp_port" value="18571"/><arg name="mavlink_tcp_port" value="4561"/><arg name="udp_gimbal_port" value="13031"/><arg name="ID" value="$(arg ID)"/><arg name="ID_in_group" value="$(arg ID_in_group)"/></include><!-- MAVROS --><include file="$(find mavros)/launch/px4.launch"><arg name="fcu_url" value="$(arg fcu_url)"/><arg name="gcs_url" value=""/><arg name="tgt_system" value="$(eval 1 + arg('ID'))"/><arg name="tgt_component" value="1"/></include></group><!-- iris_2 --><group ns="iris_2"><!-- MAVROS and vehicle configs --><arg name="ID" value="2"/><arg name="ID_in_group" value="2"/><arg name="fcu_url" default="udp://:24542@localhost:34582"/><!-- PX4 SITL and vehicle spawn --><include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch"><arg name="x" value="172"/><arg name="y" value="120"/><arg name="z" value="2"/><arg name="R" value="0"/><arg name="P" value="0"/><arg name="Y" value="0"/><arg name="vehicle" value="iris"/><arg name="sdf" value="iris_stereo_camera"/><arg name="mavlink_udp_port" value="18572"/><arg name="mavlink_tcp_port" value="4562"/><arg name="udp_gimbal_port" value="13032"/><arg name="ID" value="$(arg ID)"/><arg name="ID_in_group" value="$(arg ID_in_group)"/></include><!-- MAVROS --><include file="$(find mavros)/launch/px4.launch"><arg name="fcu_url" value="$(arg fcu_url)"/><arg name="gcs_url" value=""/><arg name="tgt_system" value="$(eval 1 + arg('ID'))"/><arg name="tgt_component" value="1"/></include></group><!-- iris_3 --><group ns="iris_3"><!-- MAVROS and vehicle configs --><arg name="ID" value="3"/><arg name="ID_in_group" value="3"/><arg name="fcu_url" default="udp://:24543@localhost:34583"/><!-- PX4 SITL and vehicle spawn --><include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch"><arg name="x" value="172"/><arg name="y" value="116"/><arg name="z" value="2"/><arg name="R" value="0"/><arg name="P" value="0"/><arg name="Y" value="0"/><arg name="vehicle" value="iris"/><arg name="sdf" value="iris_stereo_camera"/><arg name="mavlink_udp_port" value="18573"/><arg name="mavlink_tcp_port" value="4563"/><arg name="udp_gimbal_port" value="13033"/><arg name="ID" value="$(arg ID)"/><arg name="ID_in_group" value="$(arg ID_in_group)"/></include><!-- MAVROS --><include file="$(find mavros)/launch/px4.launch"><arg name="fcu_url" value="$(arg fcu_url)"/><arg name="gcs_url" value=""/><arg name="tgt_system" value="$(eval 1 + arg('ID'))"/><arg name="tgt_component" value="1"/></include></group><!-- iris_4 --><group ns="iris_4"><!-- MAVROS and vehicle configs --><arg name="ID" value="4"/><arg name="ID_in_group" value="4"/><arg name="fcu_url" default="udp://:24544@localhost:34584"/><!-- PX4 SITL and vehicle spawn --><include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch"><arg name="x" value="174"/><arg name="y" value="120"/><arg name="z" value="2"/><arg name="R" value="0"/><arg name="P" value="0"/><arg name="Y" value="0"/><arg name="vehicle" value="iris"/><arg name="sdf" value="iris_stereo_camera"/><arg name="mavlink_udp_port" value="18574"/><arg name="mavlink_tcp_port" value="4564"/><arg name="udp_gimbal_port" value="13034"/><arg name="ID" value="$(arg ID)"/><arg name="ID_in_group" value="$(arg ID_in_group)"/></include><!-- MAVROS --><include file="$(find mavros)/launch/px4.launch"><arg name="fcu_url" value="$(arg fcu_url)"/><arg name="gcs_url" value=""/><arg name="tgt_system" value="$(eval 1 + arg('ID'))"/><arg name="tgt_component" value="1"/></include></group><!-- iris_5 --><group ns="iris_5"><!-- MAVROS and vehicle configs --><arg name="ID" value="5"/><arg name="ID_in_group" value="5"/><arg name="fcu_url" default="udp://:24545@localhost:34585"/><!-- PX4 SITL and vehicle spawn --><include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch"><arg name="x" value="174"/><arg name="y" value="116"/><arg name="z" value="2"/><arg name="R" value="0"/><arg name="P" value="0"/><arg name="Y" value="0"/><arg name="vehicle" value="iris"/><arg name="sdf" value="iris_stereo_camera"/><arg name="mavlink_udp_port" value="18575"/><arg name="mavlink_tcp_port" value="4565"/><arg name="udp_gimbal_port" value="13035"/><arg name="ID" value="$(arg ID)"/><arg name="ID_in_group" value="$(arg ID_in_group)"/></include><!-- MAVROS --><include file="$(find mavros)/launch/px4.launch"><arg name="fcu_url" value="$(arg fcu_url)"/><arg name="gcs_url" value=""/><arg name="tgt_system" value="$(eval 1 + arg('ID'))"/><arg name="tgt_component" value="1"/></include></group><!-- Spawn model in Gazebo, script depending on non_competition_mode --><node name="spawn_model" pkg="gazebo_ros" type="spawn_model" if="$(arg non_competition_mode)"args="-x $(arg x) -y $(arg y) -z $(arg z)-R $(arg R) -P $(arg P) -Y $(arg Y)-urdf -param $(arg namespace)/robot_description -model wamv"/><node name="spawn_wamv" pkg="vrx_gazebo" type="spawn_wamv.bash" unless="$(arg non_competition_mode)"args="-x $(arg x) -y $(arg y) -z $(arg z)-R $(arg R) -P $(arg P) -Y $(arg Y)--urdf $(arg urdf) --model wamv"/>
</launch>
 然后再次运行仿真环境启动脚本，则会发现无人机与无人船都有了
roslaunch px4 sandisland.launch

至此，包含着无人机和无人船的方正环境启动完毕。
然后推出仿真环境，并关闭启动命令运行窗口。

3 为了用键盘控制无人机，需要检查PX4飞控EKF配置，原理可参考PX4飞控EKF配置 · 语雀。

首先，运行下列命令打开rcS文件
gedit ~/PX4_Firmware/build/px4_sitl_default/etc/init.d-posix/rcS
 确保文件中的GPS部分做了如下修改（图中红框部分）

4 真正式启动仿真环境

启动gazebo仿真环境：

cd PX4_Firmware/
roslaunch px4 sandisland.launch

启动多无人机通信脚本：

cd ~/XTDrone/communication/
bash multi_vehicle_communication.sh

启动无人机控制键盘：

cd ~/XTDrone/control/keyboard
python3 multirotor_keyboard_control.py iris 6 vel  # 根据你所启动的无人机数量来修改第二个参数

无人船控制

可以通过下面的话题来控制无人船的运动：
/wamv/thrusters/left_thrust_angle
/wamv/thrusters/left_thrust_cmd
/wamv/thrusters/right_thrust_angle
/wamv/thrusters/right_thrust_cmd
比如给左右推进器相同的推力:
rostopic pub -r 1  /wamv/thrusters/left_thrust_cmd std_msgs/Float32 "data: 1.0" 
rostopic pub -r 1  /wamv/thrusters/right_thrust_cmd std_msgs/Float32 "data: 1.0"

5 最终的运行效果展示

说明：虽然本次启动了6架无人机，都已成功建立了通信，但最后只有四架无人机起飞，不过也没关系，不影响仿真效果。
至此，所有配置均已完成，前路漫漫，任重道远，遇到问题不要着急，逐一解决即可。

6 各功能包修改后的完整版CMakeList.txt文件

6.1 usv_gazebo_plugins

cmake_minimum_required(VERSION 3.0)
project(usv_gazebo_plugins VERSION 1.0.0)# Set policy for CMake 3.1+. Use OLD policy to let FindBoost.cmake, dependency
# of gazebo, use quoted variables in if()
if(POLICY CMP0048)cmake_policy(SET CMP0048 NEW)
endif()find_package(catkin REQUIRED COMPONENTS gazebo_dev roscpp message_generation xacro wave_gazebo_plugins usv_msgs)
find_package(Eigen3 REQUIRED)###################################
## catkin specific configuration ##
###################################catkin_package(INCLUDE_DIRS includeCATKIN_DEPENDS message_runtime gazebo_dev roscpp wave_gazebo_plugins
)# Plugins require c++14set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)include_directories( include${catkin_INCLUDE_DIRS}${EIGEN3_INCLUDE_DIRS}
)
link_directories(${catkin_LIBRARY_DIRS}
)## Declare a C++ library
add_library(buoyancy_gazebo_pluginsrc/buoyancy_gazebo_plugin.ccsrc/shape_volume.ccsrc/polyhedron_volume.cc
)
target_link_libraries(buoyancy_gazebo_plugin${catkin_LIBRARIES}${GAZEBO_LIBRARIES}${Eigen_LIBRARIES}
)
install(TARGETS buoyancy_gazebo_pluginARCHIVE DESTINATION libLIBRARY DESTINATION libRUNTIME DESTINATION bin
)## Declare a C++ library
add_library(usv_gazebo_dynamics_pluginsrc/usv_gazebo_dynamics_plugin.cc
)
target_link_libraries(usv_gazebo_dynamics_plugin${catkin_LIBRARIES}${Eigen_LIBRARIES}
)
install(TARGETS usv_gazebo_dynamics_pluginARCHIVE DESTINATION libLIBRARY DESTINATION libRUNTIME DESTINATION bin
)## Declare a C++ library
add_library(usv_gazebo_thrust_pluginsrc/usv_gazebo_thrust_plugin.cc
)
target_link_libraries(usv_gazebo_thrust_plugin${catkin_LIBRARIES}${Eigen_LIBRARIES}
)
install(TARGETS usv_gazebo_thrust_pluginARCHIVE DESTINATION libLIBRARY DESTINATION libRUNTIME DESTINATION bin
)## Declare a C++ library
add_library(usv_gazebo_wind_pluginsrc/usv_gazebo_wind_plugin.cc
)
target_link_libraries(usv_gazebo_wind_plugin${catkin_LIBRARIES}${Eigen_LIBRARIES}
)
install(TARGETS usv_gazebo_wind_pluginARCHIVE DESTINATION libLIBRARY DESTINATION libRUNTIME DESTINATION bin
)## Declare a C++ library
add_library(usv_gazebo_acoustic_pinger_pluginsrc/acoustic_pinger_plugin.cc
)
add_dependencies(usv_gazebo_acoustic_pinger_plugin usv_msgs_generate_messages_cpp)
target_link_libraries(usv_gazebo_acoustic_pinger_plugin${catkin_LIBRARIES}${Eigen_LIBRARIES}
)
install(TARGETS usv_gazebo_acoustic_pinger_pluginARCHIVE DESTINATION libLIBRARY DESTINATION libRUNTIME DESTINATION bin
)set(XACRO_INORDER)
if(DEFINED ENV{ROS_DISTRO})if($ENV{ROS_DISTRO} STREQUAL "noetic")set(XACRO_INORDER INORDER)endif()
endif()# Generate demo world files from xacro and install
xacro_add_files(worlds/buoyancy_plugin_demo.world.xacro${XACRO_INORDER} INSTALL DESTINATION worlds
)
install(DIRECTORY worlds/DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/worlds)if(CATKIN_ENABLE_TESTING)# buoyancy plugin testcatkin_add_gtest(buoyancy_plugin_test test/buoyancy_test.cc)target_link_libraries(buoyancy_plugin_test buoyancy_gazebo_plugin)
endif()install(DIRECTORY include/${PROJECT_NAME}/DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})

6.2 usv_msgs

cmake_minimum_required(VERSION 2.8.3)
project(usv_msgs)find_package(catkin REQUIRED COMPONENTSmessage_generationmessage_runtimestd_msgs
)add_message_files(FILESRangeBearing.msg
)generate_messages(DEPENDENCIESstd_msgs
)catkin_package(CATKIN_DEPENDS message_generation message_runtime std_msgs
)include_directories(${catkin_INCLUDE_DIRS}
)

6.3  vrx_gazebo

cmake_minimum_required(VERSION 2.8.3)
project(vrx_gazebo)# We need erb to process the .world.erb files.
find_program(ERB_EXE_PATH erb)
if(NOT ERB_EXE_PATH)message(FATAL_ERROR "Could not find the `erb` tool.  Try `sudo apt-get install ruby`")
endif()# For Qt
set(CMAKE_AUTOMOC ON)
set(CMAKE_AUTOUIC ON)# Set policy for CMake 3.1+. Use OLD policy to let FindBoost.cmake, dependency
# of gazebo, use quoted variables in if()
if(POLICY CMP0054)cmake_policy(SET CMP0054 NEW)
endif()
# Use OLD policy to be able to use *_generate_services_cpp before they exist,
# without error.
if(POLICY CMP0046)cmake_policy(SET CMP0046 NEW)
endif()find_package(Qt5Widgets REQUIRED)
find_package(Qt5Core REQUIRED)
find_package(Protobuf REQUIRED)
find_package(gazebo REQUIRED)find_package(catkin REQUIRED COMPONENTSgazebo_devgeographic_msgsmessage_generationroscpprospystd_msgswamv_gazebowave_gazeboxacro
)########################
## Message generation ##
########################add_message_files(FILESTask.msgContact.msg
)add_service_files(FILESColorSequence.srv
)# Python scripts setup
catkin_python_setup()generate_messages(DEPENDENCIESstd_msgs
)catkin_package(INCLUDE_DIRS includeCATKIN_DEPENDS wamv_gazebo wave_gazebo xacro gazebo_dev geographic_msgs std_msgs message_runtimeLIBRARIES scoring_plugin
)set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}") include_directories(include ${catkin_INCLUDE_DIRS}${Qt5Core_INCLUDE_DIRS}${QT_USE_FILE}${GAZEBO_INCLUDE_DIRS}${CMAKE_CURRENT_BINARY_DIR}/msgs
)link_directories(${GAZEBO_LIBRARY_DIRS} ${CMAKE_CURRENT_BINARY_DIR}/msgs)
add_subdirectory(msgs)add_definitions(${QT_DEFINITIONS})# Library for displaying waypoint markers
add_library(waypoint_markers src/waypoint_markers.cc)
target_link_libraries(waypoint_markers ${catkin_LIBRARIES})
add_dependencies(waypoint_markers ${catkin_EXPORTED_TARGETS})
install(TARGETS waypoint_markersARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)# Plugin for setting color of light buoy.
add_library(light_buoy_plugin src/light_buoy_plugin.cc)
target_link_libraries(light_buoy_plugin${catkin_LIBRARIES} light_buoy_colors_msgs
)
add_dependencies(light_buoy_plugin ${catkin_EXPORTED_TARGETS}light_buoy_colors_msgs
)
install(TARGETS light_buoy_pluginARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)# Plugin for setting color and shape of a placard.
add_library(placard_plugin src/placard_plugin.cc)
target_link_libraries(placard_plugin${catkin_LIBRARIES}dock_placard_msgs
)
add_dependencies(placard_plugin${catkin_EXPORTED_TARGETS}dock_placard_msgs
)
install(TARGETS placard_pluginARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)# A generic scoring plugin.
add_library(scoring_plugin src/scoring_plugin.cc)
target_link_libraries(scoring_plugin${catkin_LIBRARIES}
)
add_dependencies(scoring_plugin${catkin_EXPORTED_TARGETS}vrx_gazebo_generate_messages_cppvrx_gazebo_generate_services_cpp
)
install(TARGETS scoring_pluginARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)# Plugin for scoring the navigation challenge task.
add_library(navigation_scoring_plugin src/navigation_scoring_plugin.cc)
target_link_libraries(navigation_scoring_plugin${catkin_LIBRARIES}scoring_plugin)
add_dependencies(navigation_scoring_plugin ${catkin_EXPORTED_TARGETS})
install(TARGETS navigation_scoring_pluginARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)# Plugin for scoring the station keeping challenge task.
add_library(stationkeeping_scoring_plugin src/stationkeeping_scoring_plugin.cc)
target_link_libraries(stationkeeping_scoring_plugin${catkin_LIBRARIES}scoring_pluginwaypoint_markers)
add_dependencies(stationkeeping_scoring_plugin ${catkin_EXPORTED_TARGETS})
install(TARGETS stationkeeping_scoring_pluginARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)# Plugin for scoring the waypoint navigation challenge task.
add_library(wayfinding_scoring_plugin src/wayfinding_scoring_plugin.cc)
target_link_libraries(wayfinding_scoring_plugin${catkin_LIBRARIES}scoring_pluginwaypoint_markers)
add_dependencies(wayfinding_scoring_plugin ${catkin_EXPORTED_TARGETS})
install(TARGETS wayfinding_scoring_pluginARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)# Plugin for scoring the scan and dock task.
add_library(scan_dock_scoring_plugin src/scan_dock_scoring_plugin.cc)
target_link_libraries(scan_dock_scoring_plugin${catkin_LIBRARIES}scoring_plugin light_buoy_colors_msgsdock_placard_msgs)
add_dependencies(scan_dock_scoring_plugin${catkin_EXPORTED_TARGETS}light_buoy_colors_msgsdock_placard_msgs
)
install(TARGETS scan_dock_scoring_pluginARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)if(${GAZEBO_MAJOR_VERSION} GREATER 7)# Plugin for Task Info GUI Overlayadd_library(gui_task_widget SHARED ${headers_MOC}src/gui_task_widget.cc)target_link_libraries(gui_task_widget ${catkin_LIBRARIES}${GAZEBO_LIBRARIES}${PROTOBUF_LIBRARIES}${QT_LIBRARIES})qt5_use_modules(gui_task_widget Widgets)add_dependencies(gui_task_widget ${catkin_EXPORTED_TARGETS})install(TARGETS gui_task_widgetARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
endif()# Plugin for scoring the perception task.
add_library(perception_scoring_plugin src/perception_scoring_plugin.cc)
target_link_libraries(perception_scoring_plugin${catkin_LIBRARIES}scoring_plugin)
add_dependencies(perception_scoring_plugin ${catkin_EXPORTED_TARGETS})
install(TARGETS perception_scoring_pluginARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)# Dock base files that need to be processed with erb
set(dock_base_erb_filesmodels/dock_2016_base/model.sdf.erbmodels/dock_2018_base/model.sdf.erbmodels/dock_2016_base_dynamic/model.sdf.erbmodels/dock_2018_base_dynamic/model.sdf.erb
)# Dock files that need to be processed with erb
set(dock_erb_filesmodels/dock_2016/model.sdf.erbmodels/dock_2018/model.sdf.erbmodels/dock_2016_dynamic/model.sdf.erbmodels/dock_2018_dynamic/model.sdf.erb
)# Process the dock base erb files
foreach(_erb ${dock_base_erb_files})string(REGEX REPLACE ".sdf.erb" ".sdf" _model ${_erb})set(_model ${CMAKE_CURRENT_SOURCE_DIR}/${_model})add_custom_command(OUTPUT ${_model}COMMAND ${ERB_EXE_PATH} ${_erb} > ${_model}DEPENDS${CMAKE_CURRENT_SOURCE_DIR}/${_erb}${CMAKE_CURRENT_SOURCE_DIR}/dock_generator.erbWORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})list(APPEND dock_base_files ${_model})
endforeach()
add_custom_target(dock_base_erb_generation ALL DEPENDS ${dock_base_files})# Process the dock erb files
foreach(_erb ${dock_erb_files})string(REGEX REPLACE ".sdf.erb" ".sdf" _model ${_erb})set(_model ${CMAKE_CURRENT_SOURCE_DIR}/${_model})add_custom_command(OUTPUT ${_model}COMMAND ${ERB_EXE_PATH} ${_erb} > ${_model}DEPENDS${CMAKE_CURRENT_SOURCE_DIR}/${_erb}${CMAKE_CURRENT_SOURCE_DIR}/dock_generator.erbWORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})list(APPEND dock_files ${_model})
endforeach()
add_custom_target(dock_erb_generation ALLDEPENDS${dock_files}dock_base_erb_generation
)set(XACRO_INORDER)
if(DEFINED ENV{ROS_DISTRO})if($ENV{ROS_DISTRO} STREQUAL "noetic")set(XACRO_INORDER INORDER)endif()
endif()# Generate world files from xacro and install
xacro_add_files(worlds/example_course.world.xacroworlds/navigation_task.world.xacroworlds/perception_task.world.xacroworlds/sandisland.world.xacroworlds/dock.world.xacroworlds/scan_and_dock.world.xacroworlds/stationkeeping_task.world.xacroworlds/wayfinding_task.world.xacroworlds/wind_test.world.xacroworlds/ocean.world.xacro${XACRO_INORDER} INSTALL DESTINATION worlds
)
# Generate obstacle course
add_custom_command(OUTPUT ${CMAKE_CURRENT_SOURCE_DIR}/models/robotx_2018_qualifying_avoid_obstacles_buoys/model.sdfDEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/scripts/generate_avoid_obstacles_buoysCOMMAND ${CMAKE_CURRENT_SOURCE_DIR}/scripts/generate_avoid_obstacles_buoys --seed 1337 --a3 6 --a5 7 --a7 7 > ${CMAKE_CURRENT_SOURCE_DIR}/models/robotx_2018_qualifying_avoid_obstacles_buoys/model.sdf
)
add_custom_target(${PROJECT_NAME}_generate_obstacle_course_buoys ALL DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/models/robotx_2018_qualifying_avoid_obstacles_buoys/model.sdf)# Install all the config files
install(DIRECTORY config/DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)# Install all the world files
install(DIRECTORY worlds/DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/worlds)# Install all the model files
install(DIRECTORY models/DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/models)# Install all the launch files
install(DIRECTORY launch/DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)install(DIRECTORY include/DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}FILES_MATCHING PATTERN "*.hh"
)install(PROGRAMS scripts/spawn_wamv.bashDESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})if(CATKIN_ENABLE_TESTING)find_package(rostest REQUIRED)add_rostest_gtest(sandisland_testtest/sandisland.testtest/sandisland.cc)target_link_libraries(sandisland_test ${catkin_LIBRARIES})
endif()# Python Scripts
catkin_install_python(PROGRAMSnodes/twist2thrust.pynodes/key2thrust_angle.pyscripts/generate_worldsscripts/generate_wamvDESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

6.4 wamv_description

cmake_minimum_required(VERSION 2.8.3)
project(wamv_description)
find_package(catkin REQUIRED COMPONENTS xacro)
catkin_package(CATKIN_DEPENDS xacro)set(XACRO_INORDER)
if(DEFINED ENV{ROS_DISTRO})if($ENV{ROS_DISTRO} STREQUAL "noetic")set(XACRO_INORDER INORDER)endif()
endif()xacro_add_files(urdf/wamv_base.urdf.xacro${XACRO_INORDER} INSTALL DESTINATION urdf
)install(DIRECTORY models/DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/models)install(DIRECTORY urdf/DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf)

6.5 wamv_gazebo

cmake_minimum_required(VERSION 2.8.3)
project(wamv_gazebo)# Set policy for CMake 3.1+. Use OLD policy to let FindBoost.cmake, dependency
# of gazebo, use quoted variables in if()
if(POLICY CMP0054)cmake_policy(SET CMP0054 NEW)
endif()find_package(catkin REQUIRED COMPONENTSwamv_descriptionusv_gazebo_pluginsxacro
)
catkin_package(CATKIN_DEPENDS wamv_description usv_gazebo_plugins xacro
)set(XACRO_INORDER)
if(DEFINED ENV{ROS_DISTRO})if($ENV{ROS_DISTRO} STREQUAL "noetic")set(XACRO_INORDER INORDER)endif()
endif()# Generate urdf files from xacro and install
xacro_add_files(urdf/wamv_gazebo.urdf.xacro${XACRO_INORDER} INSTALL DESTINATION urdf
)# Install meshes and textures
install(DIRECTORY models/DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/models)# Install xacro files / macros
install(DIRECTORY urdf/DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf)# Install config files
install(DIRECTORY config/DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)# Install launch files
install(DIRECTORY launch/DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)

 6.6  wave_gazebo

cmake_minimum_required(VERSION 2.8.3)
project(wave_gazebo)# We need erb to process the model erb files.
find_program(ERB_EXE_PATH erb)
if(NOT ERB_EXE_PATH)message(FATAL_ERROR "Could not find the `erb` tool.  Try `sudo apt-get install ruby`")
endif()find_package(catkin REQUIRED COMPONENTSxacro
)catkin_package(CATKIN_DEPENDS xacro
)# Model files to be processed with erb
set (xacro_erb_filesworld_models/ocean_waves/model.xacro.erb
)
# Process the xacro erb files
foreach(_erb ${xacro_erb_files})string(REGEX REPLACE ".xacro.erb" ".xacro" _model ${_erb})set(_model ${CMAKE_CURRENT_SOURCE_DIR}/${_model})add_custom_command(OUTPUT ${_model}COMMAND ${ERB_EXE_PATH} ${_erb} > ${_model}DEPENDS${CMAKE_CURRENT_SOURCE_DIR}/${_erb}WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})list(APPEND model_files ${_model})
endforeach()install(DIRECTORY world_models/DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/world_models)add_custom_target(model_erb_generation ALLDEPENDS${model_files}
)set(XACRO_INORDER)
if(DEFINED ENV{ROS_DISTRO})if($ENV{ROS_DISTRO} STREQUAL "noetic")set(XACRO_INORDER INORDER)endif()
endif()# Generate world files from xacro and install
xacro_add_files(worlds/ocean.world.xacroworlds/ocean_buoys.world.xacroworlds/ocean_wamv.world.xacro${XACRO_INORDER} INSTALL DESTINATION worlds
)

 6.7 wave_gazebo_plugins

cmake_minimum_required(VERSION 3.0)
project(wave_gazebo_plugins VERSION 1.0.0)###############################################################################
# Compile as C++14, supported in ROS Noetic and newerset(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)# Set policy for CMake 3.1+. Use NEW policy to manage version variables
if(POLICY CMP0048)cmake_policy(SET CMP0048 NEW)
endif()###############################################################################
# Other dependencies...find_package(catkin REQUIRED COMPONENTS gazebo_ros)
find_package(gazebo REQUIRED)
find_package(Eigen3 REQUIRED)# Find OGRE and include its components (e.g., Paging)
find_package(OGRE 1.9 REQUIRED COMPONENTS Paging)# 手动设置 Gazebo 路径
set(GAZEBO_INCLUDE_DIRS "/usr/include/gazebo-9" "/usr/include/sdformat-6.3" "/usr/include/ignition/transport4" "/usr/include/ignition/msgs1" "/usr/include/ignition/math4")
set(GAZEBO_LIBRARY_DIRS "/usr/lib/x86_64-linux-gnu/gazebo-9/plugins")# 添加额外的 OGRE 包含路径，确保找到所需的头文件
list(APPEND OGRE_INCLUDE_DIRS "/usr/include/OGRE")
list(APPEND OGRE_INCLUDE_DIRS "/usr/include/OGRE/Paging")
# # 查找 OGRE 头文件目录
# set(OGRE_ROOT "/usr/include/OGRE")# # 递归地获取 OGRE 目录下所有子目录
# file(GLOB_RECURSE OGRE_SUBDIRS RELATIVE ${OGRE_ROOT} ${OGRE_ROOT}/*)# # 初始化包含目录变量
# set(OGRE_INCLUDE_DIRS ${OGRE_ROOT})# # 将 OGRE 子目录添加到包含目录中
# foreach(SUBDIR ${OGRE_SUBDIRS})
#     if(IS_DIRECTORY "${OGRE_ROOT}/${SUBDIR}")
#         list(APPEND OGRE_INCLUDE_DIRS "${OGRE_ROOT}/${SUBDIR}")
#     endif()
# endforeach()# # 输出包含目录（可选，供调试用）
# # message(STATUS "OGRE include directories: ${OGRE_INCLUDE_DIRS}")# # 添加到包含目录中
# include_directories(${OGRE_INCLUDE_DIRS})############################################################################### 
# Catkin...catkin_package(INCLUDE_DIRS includeLIBRARIESHydrodynamicsWavefieldModelPluginWavefieldVisualPluginwavegauge_pluginDEPENDSgazebo_ros
)############################################################################### 
# Libraries...# Hydrodynamics
add_library(HydrodynamicsSHAREDsrc/Gazebo.ccsrc/Geometry.ccsrc/PhysicalConstants.ccsrc/Physics.ccsrc/Utilities.ccsrc/Wavefield.ccsrc/WavefieldEntity.cc
)target_include_directories(HydrodynamicsPRIVATE${PROJECT_SOURCE_DIR}/include${Boost_INCLUDE_DIRS}${catkin_INCLUDE_DIRS}${EIGEN3_INCLUDE_DIR}${GAZEBO_INCLUDE_DIRS}   # 确保包含 Gazebo 的 include 路径${OGRE_INCLUDE_DIRS}     # 确保包含 OGRE 的额外路径
)target_link_directories(HydrodynamicsPRIVATE${GAZEBO_LIBRARY_DIRS}  # 确保链接 Gazebo 的库路径
)target_link_libraries(Hydrodynamics${Boost_LIBRARIES}${catkin_LIBRARIES}${GAZEBO_LIBRARIES}
)target_compile_features(Hydrodynamics PRIVATE cxx_std_14)
target_compile_options(Hydrodynamics PRIVATE "-Wno-unknown-pragmas")list(APPEND WAVE_GAZEBO_LIBRARIES_LIST Hydrodynamics)############################################################################### 
# Plugins...# WavefieldModelPlugin
add_library(WavefieldModelPluginSHAREDsrc/WavefieldModelPlugin.cc
)target_include_directories(WavefieldModelPluginPRIVATE${PROJECT_SOURCE_DIR}/include${Boost_INCLUDE_DIRS}${catkin_INCLUDE_DIRS}${GAZEBO_INCLUDE_DIRS}${OGRE_INCLUDE_DIRS}
)target_link_directories(WavefieldModelPluginPRIVATE${GAZEBO_LIBRARY_DIRS}
)target_link_libraries(WavefieldModelPlugin${Boost_LIBRARIES}${catkin_LIBRARIES}${GAZEBO_LIBRARIES}${WAVE_GAZEBO_LIBRARIES_LIST}
)target_compile_features(WavefieldModelPlugin PRIVATE cxx_std_14)
target_compile_options(WavefieldModelPlugin PRIVATE "-Wno-unknown-pragmas")list(APPEND WAVE_GAZEBO_PLUGINS_LIST WavefieldModelPlugin)# WavefieldVisualPlugin
add_library(WavefieldVisualPluginSHAREDsrc/WavefieldVisualPlugin.cc
)target_include_directories(WavefieldVisualPluginPRIVATE${PROJECT_SOURCE_DIR}/include${Boost_INCLUDE_DIRS}${catkin_INCLUDE_DIRS}${GAZEBO_INCLUDE_DIRS}${OGRE_INCLUDE_DIRS}  # 确保包含 OGRE 的 include 路径
)target_link_directories(WavefieldVisualPluginPRIVATE${GAZEBO_LIBRARY_DIRS}
)target_link_libraries(WavefieldVisualPlugin${Boost_LIBRARIES}${catkin_LIBRARIES}${GAZEBO_LIBRARIES}${WAVE_GAZEBO_LIBRARIES_LIST}${OGRE_LIBRARIES}  # 确保链接 OGRE 库
)target_compile_features(WavefieldVisualPlugin PRIVATE cxx_std_14)
target_compile_options(WavefieldVisualPlugin PRIVATE "-Wno-unknown-pragmas")list(APPEND WAVE_GAZEBO_PLUGINS_LIST WavefieldVisualPlugin)# WavegaugePlugin
add_library(wavegauge_pluginSHAREDsrc/wavegauge_plugin.cc
)target_include_directories(wavegauge_pluginPRIVATE${PROJECT_SOURCE_DIR}/include${Boost_INCLUDE_DIRS}${catkin_INCLUDE_DIRS}${GAZEBO_INCLUDE_DIRS}
)target_link_directories(wavegauge_pluginPRIVATE${GAZEBO_LIBRARY_DIRS}
)target_link_libraries(wavegauge_pluginWavefieldModelPlugin${Boost_LIBRARIES}${catkin_LIBRARIES}${GAZEBO_LIBRARIES}${WAVE_GAZEBO_LIBRARIES_LIST}
)add_dependencies(wavegauge_plugin WavefieldModelPlugin)target_compile_features(wavegauge_plugin PRIVATE cxx_std_14)
target_compile_options(wavegauge_plugin PRIVATE "-Wno-unknown-pragmas")list(APPEND WAVE_GAZEBO_PLUGINS_LIST wavegauge_plugin)############################################################################### 
# Executables...############################################################################### 
# Tests...if(CATKIN_ENABLE_TESTING)catkin_add_gtest(UNIT_Wavefield_TEST src/Wavefield_TEST.cc)target_include_directories(UNIT_Wavefield_TESTPRIVATE${PROJECT_SOURCE_DIR}/include${Boost_INCLUDE_DIRS}${catkin_INCLUDE_DIRS}${EIGEN3_INCLUDE_DIR}${GAZEBO_INCLUDE_DIRS})target_link_directories(UNIT_Wavefield_TESTPRIVATE${GAZEBO_LIBRARY_DIRS})target_link_libraries(UNIT_Wavefield_TEST ${WAVE_GAZEBO_LIBRARIES_LIST})target_compile_features(UNIT_Wavefield_TEST PRIVATE cxx_std_14)target_compile_options(UNIT_Wavefield_TEST PRIVATE "-Wno-unknown-pragmas")endif()############################################################################### 
# Installinstall(TARGETS${WAVE_GAZEBO_LIBRARIES_LIST}${WAVE_GAZEBO_PLUGINS_LIST}wavegauge_pluginARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)install(DIRECTORY include/${PROJECT_NAME}/DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}FILES_MATCHING PATTERN "*.hh"
)install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}FILES_MATCHING PATTERN "*.pb.*"
)
说明：在复制后，对应修改你的路径即可。另外，针对与此配置，可能有些功能包没有用到，所以有个别的CMakeList.txt就没有改到，如果编译时还出现其他报错的话，可以参照前面改错的方法去修改。

参考：无人机与无人船协同初步 · 语雀

感谢GPT！

版权声明:

本网仅为发布的内容提供存储空间，不对发表、转载的内容提供任何形式的保证。凡本网注明“来源：XXX网络”的作品，均转载自其它媒体，著作权归作者所有，商业转载请联系作者获得授权，非商业转载请注明出处。

我们尊重并感谢每一位作者，均已注明文章来源和作者。如因作品内容、版权或其它问题，请及时与我们联系，联系邮箱：809451989@qq.com，投稿邮箱：809451989@qq.com

最新新闻

热搜词

如何选择适合您需求的采集卡 杂项-公司：华为 Codeforces Round 993 (Div. 4)（补题） 触摸芯片之滑条滚轮方案 .net framework 4.7.2 winform框架项目升级到.net 8.0项目 界面比列失调问题解决 pve系统all in one 搭建

声明：本站所有新闻及新闻图片来源于其他网站，如有侵权，请及时联系我们！

客户服务 | 关于我们 | 版权声明

版权所有：

Copyright 2024 尧图网 All Rights Reserved.QQ:809451989