ROS下基于YOLO的px4无人机目标检测+对应的各种问题解决办法（亲测有效，避免入坑）

一、搭建无人机仿真环境

1.安装依赖

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 \
xmlstarlet

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

2、ROS安装（已安装就忽略）

参考链接

3.Gazebo安装（已安装就忽略）

参考链接

4.MAVROS安装

这是一个飞机固件与ros通信的包：

sudo apt install ros-kinetic-mavros ros-kinetic-mavros-extras
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 ##此时执行速度很慢，耐心等待完成

5.PX4配置

下载固件

git clone https://github.com/PX4/Firmware
mv Firmware PX4_Firmware
cd PX4_Firmware
git checkout -b xtdrone/dev v1.11.0-beta1
git submodule update --init --recursive

一般来说，第一次安装飞控固件，编译时会报错，因为缺少了必要的python依赖，因此在下载玩Firmware后，在编译之前，首先：

cd PX4_Firmware
 bash
 bash ./Tools/setup/ubuntu.sh --no-nuttx --no-sim-tools ##此处跳过了仿真器的安装，因为已经在ros已经配置好了

这之后，再执行下面指令，一般就不会出错，如果继续报错，一般为个人电脑环境配置的问题，请根据终端中的错误提示自行安装依赖。

make posix_sitl_default gazebo

**

编译make posix_sitl_default gazebo可能会遇到的问题：（由于小编忘记了截图）于是便拿我参考的问题解决方法分享（错误大概一致都可以按照以下解决）

问题1：

[ros] ccache: failed to create /home/ 问题解决
解决办法：删除/home/xxx/.ccache文件
（xxx）是你虚拟机用户名的名称

sudo rm -rf /home/xxx/.ccache/ 

问题2：

CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
GSTREAMER_LIBRARIES (ADVANCED)

    linked by target "LiftDragPlugin" in directory /home/sch/catkin_ws/src/Firmware/Tools/sitl_gazebo
    linked by target "gazebo_gst_camera_plugin" in directory /home/sch/catkin_ws/src/Firmware/Tools/sitl_gazebo
    linked by target "gazebo_barometer_plugin" in directory /home/sch/catkin_ws/src/Firmware/Tools/sitl_gazebo
    linked by target "gazebo_geotagged_images_plugin" in directory /home/sch/catkin_ws/src/Firmware/Tools/sitl_gazebo
    linked by target "gazebo_magnetometer_plugin" in directory /home/sch/catkin_ws/src/Firmware/Tools/sitl_gazebo
    linked by target "sensor_msgs" in directory /home/sch/catkin_ws/src/Firmware/Tools/sitl_gazebo
    linked by target "gazebo_irlock_plugin" in directory /home/sch/catkin_ws/src/Firmware/Tools/sitl_gazebo
    linked by target "gazebo_video_stream_widget" in directory /home/sch/catkin_ws/src/Firmware/Tools/sitl_gazebo
    linked by target "gazebo_controller_interface" in directory /home/sch/catkin_ws/src/Firmware/Tools/sitl_gazebo
    linked by target "gazebo_wind_plugin" in directory /home/sch/catkin_ws/src/Firmware/Tools/sitl_gazebo
    linked by target "std_msgs" in directory /home/sch/catkin_ws/src/Firmware/Tools/sitl_gazebo
    linked by target "gazebo_gps_plugin" in directory /home/sch/catkin_ws/src/Firmware/Tools/sitl_gazebo
    linked by target "gazebo_sonar_plugin"