基本依赖项

pip install \
	pandas \
	jinja2 \
	pyserial \
	cerberus \
	pyulog \
	numpy \
	toml \
	pyquaternion

Q1:程序“pip”尚未安装。您可以使用以下命令安装： sudo apt install python-pip Q2: Traceback (most recent call last): File “/usr/bin/pip”, line 9, in from pip import main ImportError: cannot import name main 解决： sudo gedit /usr/bin/pip 将

from pip import main  
        if __name__ == '__main__':  
            sys.exit(main())

修改为：

  from pip import __main__  
if __name__ == '__main__':  
    sys.exit(__main__._main())

安装依赖的包

sudo apt install -y \
	ninja-build \
	exiftool \
	python-argparse \
	python-empy \
	python-toml \
	python-numpy \
	python-yaml \
	python-dev \
	python-pip \
	ninja-build \
	protobuf-compiler \
	libeigen3-dev \
genromfs

安装ros系统：安装 ROS Kinetic

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update

Q1:W: GPG 错误：http://packages.ros.org/ros/ubuntu xenial InRelease: 由于没有公钥，无法验证下列签名： NO_PUBKEY F42ED6FBAB17C654 W: 仓库 “http://packages.ros.org/ros/ubuntu xenial InRelease” 没有数字签名。 N: 无法认证来自该源的数据，所以使用它会带来潜在风险。 N: 参见 apt-secure(8) 手册以了解仓库创建和用户配置方面的细节。 解决： sudo apt-key adv –keyserver keyserver.ubuntu.com –recv-keys F42ED6FBAB17C654 Executing: /tmp/tmp.0ahh2pNlMq/gpg.1.sh –keyserver keyserver.ubuntu.com –recv-keys F42ED6FBAB17C654

sudo apt-get install ros-kinetic-desktop-full

Q1: W: Possible missing firmware /lib/firmware/i915/kbl_guc_ver9_14.bin for module i915 W: Possible missing firmware /lib/firmware/i915/bxt_guc_ver8_7.bin for module i915 解决：首先去到这个网址，你会看到很多固件的选择项，你选择自己缺的那个点击进去。 https://git.kernel.org/pub/scm/linux/kernel/git/firmware/linux-firmware.git/tree/i915 进去以后呢，点击plain就会下载了。把缺的几个固件都下载好以后，把它们复制到/lib/firmware/i915下。

sudo rosdep init
rosdep update
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt install python-rosinstall python-catkin-tools python-rosinstall-generator python-wstool build-essential

install ros-gazebo plugins

sudo apt install ros-kinetic-gazebo-*

完成上列步骤后，你可以通过下面的命令来测试是否成功安装

roscore

source：使当前shell读入路径为filepath的shell文件并依次执行文件中的所有语句，通常用于重新执行刚修改的初始化文件，使之立即生效，而不必注销并重新登录接下来，需要生成catkin工作空间，你所有的基于ROS的库都可以存放在此。

mkdir -p ~/catkin_ws/src

安装MAVROS

sudo apt-get install ros-kinetic-mavros ros-kinetic-mavros-extras

安装geographic lib :

wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
sudo chmod a+x install_geographiclib_datasets.sh
sudo ./install_geographiclib_datasets.sh

PX4 Firmware配置

cd ~/catkin_ws/src
git clone https://github.com/PX4/Firmware.git
cd Firmware
git checkout v1.8.0
make posix_sitl_default gazebo

仿真运行：

roslaunch px4 mavros_posix_sitl.launch

检查连接

rostopic echo /mavros/state

git配置

sudo apt-get update
sudo apt install git
git config --global user.name "（这里填写你github上注册的名字）" git config --global user.email “（这里填写你注册邮箱的名字）” 
git config --list 回车就会显示你的注册名字和注册邮箱
ssh-keygen -t rsa -C ”（注册邮箱名）”

之后连续按三次回车就行了。

cat ~/.ssh/id_rsa.pub

把显示出来的代码全都复制下来从终端的复制的代码，粘贴在key表单中

下载GAAS 包

git clone git@github.com:generalized-intelligence/GAAS.git

模型文件所在地址更新到环境变量中:

 echo "export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:/home/yyl/catkin_ws/GAAS/simulator/models" >> ~/.bashrc

将模型以及配置文件拷贝到对应文件夹中:

cp -r /home/yyl/catkin_ws/GAAS/simulator/models* ~/catkin_ws/src/Firmware/Tools/sitl_gazebo/models/
cp -r /home/yyl/catkin_ws/GAAS/simulator/worlds/* ~/catkin_ws/src/Firmware/Tools/sitl_gazebo/worlds/
cp -r /home/yyl/catkin_ws/GAAS/simulator/posix-config/* ~/catkin_ws/src/Firmware/posix-configs/SITL/init/ekf2/

打开无人机仿真模型：

roslaunch px4 mavros_posix_sitl.launch

检查MAVROS连接情况:

rostopic echo /mavros/state

初始化无人机并启动：

cd /home/yyl/catkin_ws/GAAS/demo/tutorial_1/1_px4_mavros_offboard_controller
python px4_mavros_run.py

无人机自动驾驶软件系列 E02 : 通过无人机机载摄像头构建建筑物 3D 模型

更新文件“

cd /home/yyl/catkin_ws/GAAS
git pull origin master

将 Gazebo 仿真用到的文件拷贝到 PX4 文件所在目录中:

cp -r /home/yyl/catkin_ws/GAAS/simulator/launch/* ~/catkin_ws/src/Firmware/launch/
cp -r /home/yyl/catkin_ws/GAAS/simulator/models/* ~/catkin_ws/src/Firmware/Tools/sitl_gazebo/models/
cp -r /home/yyl/catkin_ws/GAAS/simulator/worlds/* ~/catkin_ws/src/Firmware/Tools/sitl_gazebo/worlds/
cp -r /home/yyl/catkin_ws/GAAS/simulator/posix-config/* ~/catkin_ws/src/Firmware/posix-configs/SITL/init/ekf2/

启动仿真

roslaunch px4 sfm.launch

检查 MAVROS 的连接情况:

# 确保 "connected" 为 "True"
rostopic echo /mavros/state

通过 Rviz 来查看发布出来的摄像头图片:

rviz

选择 “Add”->“by topic”->”/gi/simulation/left/image_raw“，之后你可以看到当前的左目摄像头信息订阅并存储左目摄像头的信息:

rosbag record /gi/simulation/left/image_raw -O sfm.bag

起飞无人机：

python  /home/yyl/catkin_ws/GAAS/demo/tutoal_2/2_Struction_from_Motion/px4_mavros_run.py

控制无人机圆型飞行：

python /home/yyl/catkin_ws/GAAS/demo/tutorial_2/2_Struction_from_Motion/fly_circle.py

处理 Rosbag：

python bag2image.py --bag /home/yyl/sfm.bag  --output_path /home/yyl/piture    --image_topic /gi/simulation/left/image_raw

无人机自动驾驶软件系列 E03：在无GPS环境下通过SLAM实现位置估

更新GAAS ： cd /home/yyl/catkin_ws/GAAS git pull origin master 将ROS的launch文件拷贝到PX4相应文件夹内:

cp -r /home/yyl/catkin_ws/GAAS/simulator/launch/*  ~/catkin_ws/src/Firmware/launch

将“(PX4_FIRMWARE_PATH)/Firmware/Tools/sitl_gazebo/models” 中的对应模型删除，并重新拷贝：

cp -r /home/yyl/catkin_ws/GAAS/simulator/models/* ~/catkin_ws/src/Firmware/Tools/sitl_gazebo/models/

If you are using ubuntu, just type “./install_dep.sh” to install all the dependencies except pangolin.

sudo chmod +x ./install_dep.sh
./install_dep.sh

安装Pangolin:

（参考https://www.cnblogs.com/newneul/p/8270137.html） 1、下载安装包：

git clone https://github.com/stevenlovegrove/Pangolin.git

2、安装依赖和编译软件

sudo apt-get install libglew-dev
sudo apt-get install cmake
sudo apt-get install libpython2.7-dev

3、编译安装 cd [path-to-pangolin（Pangolin路径）]//打开解压后的Pangolin文件夹我的：

cd /home/yyl/catkin_ws/GAAS/software/SLAM/ygz_slam_ros/Pangolin
mkdir build
cd build
cmake ..
make
sudo make install

安装Dbow3：

 git clone https://github.com/rmsalinas/DBow3.git
cd DBow3
cmake ..
 make 
 sudo make install

安装PCL：

（参考：https://blog.csdn.net/zkj126521/article/details/80157351） 1、下载源码：

git clone https://github.com/PointCloudLibrary/pcl

2、安装依赖包：

sudo apt-get update 
sudo apt-get install git build-essential linux-libc-dev 
sudo apt-get install cmake cmake-gui 
sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
sudo apt-get install mpi-default-dev openmpi-bin openmpi-common
sudo apt-get install libflann1.8 libflann-dev 
sudo apt-get install libeigen3-dev 
sudo apt-get install libboost-all-dev 
sudo apt-get install libvtk5.10-qt4 libvtk5.10 libvtk5-dev 
sudo apt-get install libqhull* libgtest-dev 
sudo apt-get install freeglut3-dev pkg-config 
sudo apt-get install libxmu-dev libxi-dev 
sudo apt-get install mono-complete 
sudo apt-get install qt-sdk openjdk-8-jdk openjdk-8-jre

3、编译源码：

cd pcl
cmake  -D CMAKE_BUILD_TYPE=None  -D BUILD_GPU=ON  -D BUILD_apps=ON  -D BUILD_examples=ON .  
make
sudo make instal

安装OpenNI、OpenNI2

sudo apt-get install libopenni-dev   
sudo apt-get install libopenni2-dev

安装g2o：

（参考https://blog.csdn.net/slzlincent/article/details/86555166）

git clone https://github.com/RainerKuemmerle/g2o.git
sudo apt-get install libeigen3-dev
sudo apt-get install libsuitesparse-dev
sudo apt-get install qtdeclarative5-dev
sudo apt-get install qt5-qmake
sudo apt-get install libqglviewer-dev
cd g2o
mkdir build
cd build
cmake  ..
make
sudo make install

安装opencv4.1.1:

sudo apt-get install build-essential
sudo apt-get install cmake git g++
sudo apt-get install libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev libv4l-dev liblapacke-dev
sudo apt-get install checkinstall yasm libxine2-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev libfaac-dev libmp3lame-dev libtheora-dev
sudo apt-get install libopencore-amrnb-dev libopencore-amrwb-dev libavresample-dev x264 v4l-utils
sudo apt-get install libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev  
sudo apt-get install libxvidcore-dev libx264-dev ffmpeg
sudo apt-get install libatlas-base-dev gfortran   
sudo apt-get install libopencv-dev  libqt4-dev qt4-qmake libqglviewer-dev libsuitesparse-dev libcxsparse3.1.4 libcholmod3.0.6
sudo apt-get install python-dev python-numpy
sudo apt-get install libprotobuf-dev protobuf-compiler
sudo apt-get install libgoogle-glog-dev libgflags-dev
sudo apt-get install libgphoto2-dev libeigen3-dev libhdf5-dev doxygen
cd /home/yyl/catkin_ws/GAAS/software/SLAM/ygz_slam_ros/opencv-4.1.1
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D INSTALL_C_EXAMPLES=ON -D INSTALL_PYTHON_EXAMPLES=ON -D WITH_TBB=ON -D WITH_V4L=ON -D WITH_QT=ON -D WITH_OPENGL=ON -D OPENCV_EXTRA_MODULES_PATH=/home/yyl/catkin_ws/GAAS/software/SLAM/ygz_slam_ros/opencv-4.1.1/opencv_contrib-4.1.1/modules -D PYTHON_EXECUTABLE=/usr/bin/python -D BUILD_EXAMPLES=ON ..
make
sudo make install

编译openc出现的问题和解决：

Q1:– Checking for module ‘tesseract’ – No package ‘tesseract’ found – Tesseract: NO 解决：有两种方法，我测试第一种通过 1、

sudo apt-get install -y tesseract-ocr libtesseract-dev liblepto nica-dev
sudo pip3 install tesserocr pillow

2、安装Tesseract（来源https://blog.csdn.net/tintinetmilou/article/details/80212305）

安装依赖包：
sudo apt-get install autoconf automake libtool autoconf-archive pkg-config libpng12-dev libjpeg8-dev libtiff5-dev zlib1g-dev -y 
sudo apt-get install libicu-dev libpango1.0-dev libcairo2-dev

leptonica安装

sudo apt install git （如果没有下载git 需要执行去下载安装git） git clone https://github.com/DanBloomberg/leptonica cd leptonica autoreconf -vi ./autobuild ./configure make -j8 sudo make install

安装tesseract

git clone --depth 1 https://github.com/tesseract-ocr/tesseract.git  
cd tesseract  
./autogen.sh  
./configure --enable-debug  
LDFLAGS="-L/usr/local/lib" CFLAGS="-I/usr/local/include" make -j8 
sudo make install  
sudo ldconfig

检测安装成与否

tesseract -v Q2: Failed to find gflags – Failed to find an installed/exported CMake configuration for gflags, will perform search for installed gflags components. 解决：安装gflags（来源https://blog.csdn.net/weixin_44354586/article/details/89399763）下载源码：

git clone https://github.com/gflags/gflags
cd gflags
mkdir build
cd build
cmake ..
make
sudo make install

Q3:The imported target “vtkRenderingPythonTkWidgets” references the file “/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so” but this file does not exist. Possible reasons include:

The file was deleted, renamed, or moved to another location.
An install or uninstall procedure did not complete successfully.
The installation package was faulty and contained “/usr/lib/cmake/vtk-6.2/VTKTargets.cmake” but not all the files it references. 解决：（来源https://www.cnblogs.com/sincere-diligence/p/9336045.html）sudo ln -s /usr/lib/python2.7/dist-packages/vtk/libvtkRenderingPythonTkWidgets.x86_64-linux-gnu.so /usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so

Q4:没有安装flake8 解决：有两种方式： 1、# 安装到特定版本

sudo python<version> -m pip install flake8

我的是 sudo python2.7 -m pip install flake8 2、安装到默认python

python -m install flake8

未完，接下是GAAS 学习二…

阶段总结

（1）配置环境务必保证每一步是正确的，否则越到后面错误就越，因为包包依赖，包包关联。（2）缺少那个包有4种解决的方法： 1）sudo apt-get install （包名称） 2）sudo pip/pip3 install （包名字） 3）源码编译 4）百度 install （包名字）（3）编译软件要看对应软件的安装说明（readme）（4）对于出现找不到XX .XX版的问题，修改CmakeList文件，去掉版本的要求（5）对于找不到XX的问题多半是依赖包没装全或者安装完没有sudo make install （6）源码编译的步骤： 1）cd 文件夹 2）mkdir build 3）cd build 4）cmake … 5）make 6）sudo make install （7）有时下载或编译的速度慢了，可以取消在重新来

无人机自动驾驶GAAS学习一

基本依赖项

安装依赖的包

安装ros系统：安装 ROS Kinetic

install ros-gazebo plugins

安装MAVROS

安装geographic lib :

PX4 Firmware配置

git配置

下载GAAS 包

模型文件所在地址更新到环境变量中:

将模型以及配置文件拷贝到对应文件夹中:

无人机自动驾驶软件系列 E02 : 通过无人机机载摄像头构建建筑物 3D 模型

无人机自动驾驶软件系列 E03：在无GPS环境下通过SLAM实现位置估

安装Pangolin:

安装Dbow3：

安装PCL：

安装OpenNI、OpenNI2

安装g2o：

安装opencv4.1.1:

编译openc出现的问题和解决：

leptonica安装

安装tesseract

检测安装成与否

阶段总结

您必须登录才能发表评论！

基本依赖项

安装依赖的包

安装ros系统：安装 ROS Kinetic

install ros-gazebo plugins

安装MAVROS

安装geographic lib :

PX4 Firmware配置

git配置

下载GAAS 包

模型文件所在地址更新到环境变量中:

将模型以及配置文件拷贝到对应文件夹中:

无人机自动驾驶软件系列 E02 : 通过无人机机载摄像头构建建筑物 3D 模型

无人机自动驾驶软件系列 E03： 在无GPS环境下通过SLAM实现位置估

安装Pangolin:

安装Dbow3：

安装PCL：

安装OpenNI、OpenNI2

安装g2o：

安装opencv4.1.1:

编译openc出现的问题和解决：

leptonica安装

安装tesseract

检测安装成与否

阶段总结

您必须 登录 才能发表评论！

无人机自动驾驶软件系列 E03：在无GPS环境下通过SLAM实现位置估

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