问题描述

在能够正确执行make px4_sitl_default gazebo，但不能正确执行roslaunch px4 posix_sitl.launch。例如提示找不到px4， mavlink_sitl_gazebo等软件包。

问题原因

PX4官网main分支（2023年5月16日）的教程没有更新文件夹路径

source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo

解决办法

将上述代码对应部分改为：

source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/simulation/gazebo-classic/sitl_gazebo-classic

如果选择添加到~/.bashrc文件应将上面的的相对路径改为绝对路径：

source ~/PX4-Autopilot/Tools/simulation/gazebo-classic/setup_gazebo.bash ~/PX4-Autopilot ~/PX4-Autopilot/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot

并且要注意export要在source之后。