尝试使用 Gradle 编译 Fast-RTPS-Gen 时出现证书问题

Question

我一直在拼命尝试使用ROS2和PX4，但我无法编译所有必需的包：Fast-RTPS-Gen

让人们了解PX4：

• 我使用的是随 sdk 安装的 Gradle 版本 6.3，如 PX4 网站上所述。
• 我已经从 Fast-RTPS-Gen 存储库下载了 1.0.4 版本

当我尝试用 Gradle 编译它时，我有一个证书（见问题末尾）。

我的问题是：我怎样才能绕过这个？因为我不会在 Java 上开发任何东西，所以我真的需要编译这一件事，我真的对绕过这个证书检查的最快、最肮脏的方法感兴趣。 我尝试使用 keytool 从 Maven 存储库添加证书，但我无法让它工作。

> Task :buildIDLParser FAILED

FAILURE: Build failed with an exception.

* Where:
Build file '/home/evandro/Fast-RTPS-Gen/thirdparty/idl-parser/idl.gradle' line: 89

* What went wrong:
Could not determine the dependencies of task ':idl-parser:jar'.
> Could not resolve all files for configuration ':idl-parser:compile'.
   > Could not resolve org.antlr:antlr4:4.5.
     Required by:
         project :idl-parser
      > Could not resolve org.antlr:antlr4:4.5.
         > Could not get resource 'https://repo.maven.apache.org/maven2/org/antlr/antlr4/4.5/antlr4-4.5.pom'.
            > Could not GET 'https://repo.maven.apache.org/maven2/org/antlr/antlr4/4.5/antlr4-4.5.pom'.
               > sun.security.validator.ValidatorException: PKIX path building failed: sun.security.provider.certpath.SunCertPathBuilderException: unable to find valid certification path to requested target
   > Could not resolve org.antlr:antlr4:4.5.
     Required by:
         project :idl-parser
      > Could not resolve org.antlr:antlr4:4.5.
         > Could not get resource 'https://repo.maven.apache.org/maven2/org/antlr/antlr4/4.5/antlr4-4.5.pom'.
            > Could not GET 'https://repo.maven.apache.org/maven2/org/antlr/antlr4/4.5/antlr4-4.5.pom'.
               > sun.security.validator.ValidatorException: PKIX path building failed: sun.security.provider.certpath.SunCertPathBuilderException: unable to find valid certification path to requested target
   > Could not resolve org.antlr:stringtemplate:3.2.
     Required by:
         project :idl-parser
      > Could not resolve org.antlr:stringtemplate:3.2.
         > Could not get resource 'https://repo.maven.apache.org/maven2/org/antlr/stringtemplate/3.2/stringtemplate-3.2.pom'.
            > Could not GET 'https://repo.maven.apache.org/maven2/org/antlr/stringtemplate/3.2/stringtemplate-3.2.pom'.
               > sun.security.validator.ValidatorException: PKIX path building failed: sun.security.provider.certpath.SunCertPathBuilderException: unable to find valid certification path to requested target

* Try:
Run with --stacktrace option to get the stack trace. Run with --info or --debug option to get more log output. Run with --scan to get full insights.

* Get more help at https://help.gradle.org

Deprecated Gradle features were used in this build, making it incompatible with Gradle 7.0.
Use '--warning-mode all' to show the individual deprecation warnings.
See https://docs.gradle.org/6.4/userguide/command_line_interface.html#sec:command_line_warnings

BUILD FAILED in 653ms
4 actionable tasks: 2 executed, 2 up-to-date

Answer 1

据我所知，不可能通过配置禁用 JVM 证书验证。当您遇到

https://repo.maven.apache.org

的证书验证失败（这在大多数系统上不会发生）时，我猜测您位于公司防火墙后面。

如果您使用的是 Windows，请尝试将环境变量

JAVA_TOOL_OPTIONS

设置为（准确）：

-Djavax.net.ssl.trustStoreType=Windows-ROOT -Djavax.net.ssl.trustStore=NUL

如果您使用的是 Mac，请尝试将其设置为：

-Djavax.net.ssl.trustStoreType=KeychainStore -Djavax.net.ssl.trustStore=/dev/null

如果这些都不起作用，您可以复制 JVM 的现有密钥库，并使用

keytool

将您的公司证书添加到其中，这很容易通过 Google 查找。在这种情况下，您将在环境变量中使用这些设置：

-Djavax.net.ssl.trustStore=/my/trust_store -Djavax.net.ssl.trustStorePassword=my_password

Answer 2

通过sudo编译解决了这个问题：

sudo env "PATH=$PATH" gradle assemble

我花了一整天的时间，因为我对 gradle 一无所知，最终它只是一个愚蠢的简单解决方案。我建议将此添加为 PX4 安装指南中的注释。