【无人机自主导航2-快速路径规划】ubuntu18.04港科大Fast-Planner路线规划避障算法项目搭建

发布于 2021-03-01  1298 次阅读

一、前导：基本环境搭建

Ubuntu18.04配置搭建基于Gazebo的虚拟仿真平台(Px4)：无人机(UAV)、无人车等模拟实验平台

如果需要VMware16下已构建好的虚拟机文件，等待后续文章。

二、编译

在/home中新建droneMes文件夹作为工作空间：

 sudo apt-get install libarmadillo-dev ros-melodic-nlopt
  cd droneMes/src
  git clone https://github.com/HKUST-Aerial-Robotics/Fast-Planner.git
  cd ../ 
  catkin_make

在执行catkin_make时报错：

CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "pcl_conversions"
  with any of the following names:

    pcl_conversionsConfig.cmake
    pcl_conversions-config.cmake

  Add the installation prefix of "pcl_conversions" to CMAKE_PREFIX_PATH or
  set "pcl_conversions_DIR" to a directory containing one of the above files.
  If "pcl_conversions" provides a separate development package or SDK, be
  sure it has been installed.
Call Stack (most recent call first):
  Fast-Planner/uav_simulator/map_generator/CMakeLists.txt:8 (find_package)

-- Configuring incomplete, errors occurred!
See also "/home/ganahe/droneMes/build/CMakeFiles/CMakeOutput.log".
See also "/home/ganahe/droneMes/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

解决：

sudo apt-get install ros-melodic-navigation
sudo apt-get install ros-melodic-pcl-conversions
 sudo apt-get install ros-melodic-pcl-ros

2.2 启动Rviz模拟

打开新的终端，定位到上一布建立的工作空间(cd /home/droneMes/)并执行：

source devel/setup.bash && roslaunch plan_manage rviz.launch

打开新终端，定位到工作空间，并执行：

source devel/setup.bash && roslaunch plan_manage kino_replan.launch

file

点击2D Nav Goal选定目飞行目标，即可实现基本的模拟工作。

file

参考文献

[1]18.04跑港科大Fast-Planner--错误解决（pcl_conversions、在/usr/local/lib中无法找到libnlopt.so、PLUGINLIB_DECLARE_CLASS)