conda ROS 凉亭 ardupilot 凉亭

Question

我使用 mac os m1。我安装了 anaconda 并创建了一个 ROS 环境。我安装了ROS，gazebo也安装了ROS。所以我没有做任何事情来安装gazebo。因为ros安装gazebo后就准备好了。我想使用 ardupilot_gazebo。我查看了这个网站https://ardupilot.org/dev/docs/sitl-with-gazebo.html。步骤 1 是安装 SITL。我已经安装了SITL。并且可以运行。运行 SITL 后，我打开了 Qgroundcontrol。并且它们会自动连接。我想将 Gazebo 连接到 SITL。我安装 ardupilot_gazebo pulgins。我尝试这一步：

cd ardupilot_gazebo
mkdir build && cd build

没问题。

但是当我尝试时

cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo

我接受这个错误：

CMake Error at CMakeLists.txt:19 (find_package):
  By not providing "Findgz-cmake3.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "gz-cmake3", but CMake did not find one.

  Could not find a package configuration file provided by "gz-cmake3" with
  any of the following names:

    gz-cmake3Config.cmake
    gz-cmake3-config.cmake

  Add the installation prefix of "gz-cmake3" to CMAKE_PREFIX_PATH or set
  "gz-cmake3_DIR" to a directory containing one of the above files.  If
  "gz-cmake3" provides a separate development package or SDK, be sure it has
  been installed.

我认为我的Mac中的ROS环境中没有gazebo。但是我在ROS环境的终端中编写gazebo，gazebo是打开的。我在网站上看到这个代码

gz sim -v4 -r shapes.sdf

来检查gazebo。我写信给 ROS。我看到了

(ROS) halitsen@halit-MacBook-Air build % gz sim -v4 -r shapes.sdf
Invalid arguments
(ROS) halitsen@halit-MacBook-Air build % 

然而，ROS中有gazebo。 我认为有gazebo，但我用ros安装了它。当cmake搜索gazebo连接SITL时，找不到gazebo，因为gazebo是用ROS安装的。

如何解决这个问题？

我尝试在macbook air m1芯片中将gazebo和SITL以及Qgroundcontrol与anaconda环境连接起来。

Answer 1

要检查露台，您可以尝试“gazebo /usr/share/gazebo/worlds/shapes.world”

（该命令可能如下所示：gazebo full/path/to/the/shapes.world） 就我而言，它有帮助。