Compilation Problem
altshuler opened this issue · 16 comments
Hello,
I'm trying to compile the mavros_controllers and get compilation error:
Errors << geometric_controller:check /home/evgeny/catkin_ws/logs/geometric_controller/build.check.017.log
CMake Error at /home/evgeny/catkin_ws/devel/share/catkin_simple/cmake/catkin_simple-extras.cmake:38 (find_package):
By not providing "Findeigen_catkin.cmake" in CMAKE_MODULE_PATH this project
has asked CMake to find a package configuration file provided by
"eigen_catkin", but CMake did not find one.
Could not find a package configuration file provided by "eigen_catkin" with
any of the following names:
eigen_catkinConfig.cmake
eigen_catkin-config.cmake
Add the installation prefix of "eigen_catkin" to CMAKE_PREFIX_PATH or set
"eigen_catkin_DIR" to a directory containing one of the above files. If
"eigen_catkin" provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
CMakeLists.txt:7 (catkin_simple)
make: *** [cmake_check_build_system] Error 1
What you think is a problem ?
Best regards
Evgeny
This is a recently added dependency. Sorry for not updating the readme.
Try installing it through the dependeincies.rosinstall in the root of the repo
cd ~/catkin_ws
wstool merge -t src mavros_controllers/dependencies.rosinstall
wstool update -t src -j4
rosdep install --from-paths src --ignore-src -y --rosdistro kinetic
or you can simply clone it to the src directory as the following
git clone https://github.com/ethz-asl/eigen_catkin.git
Thank you very much.
This commands will update only mavros_controllers package or
all packages in workspace ? I have a packages that I don't want to update.
BR
Evgeny
@altshuler If you are worried about dependencies, simply clone eigen_catkin into your workspace. That should be enough
Hello,
when I do roslaunch geometric_controller trajectory_track_circle.launch command.
I get this message:
ERROR: cannot launch node of type [trajectory_publisher/trajectory_publisher]: can't locate node [trajectory_publisher] in package [trajectory_publisher]
The drone just takeoff and hovering in one place.
Did you build the trajectory publisher?
Actually, no...
I didn't get that needed to build it separately.
Any other packages should be built separately ?
As written in the instructions, if you build mavros_controllers it will build trajectory_publisher and geometric_controller as it depends on both
Ok, thanks.
Will test it today.
@altshuler Any updates?
I'm compiled the packages, Running simulations ,
trying to understand the code.
I have 2 questions.
Ho I can disable running Gazebo every simulation ?
What launch file runs real flight (not simulation) ?
@altshuler So does that mean the problem is solved?
On a real platform, you need to disable sim_enable_ parameter and not launch px4_sitl.
Currently there is no launch file specifically for a real system. Do you need one?
Yes, the problem is solved.
I will try to fly on real drone.
Tanks
@altshuler Have you tried flying?
Actually, yes. But the vehicle is not arming.
I disabled sim_enable_ parameter and px4_sitl .
And I tried it before last updates that you added to the project.
Unfortunately I have some HW problems on my Intel Aero, so I will try it
on next week.
Can you explain in couple of words what dob_controller do ?
Cool. Hope it works 😄
A dob_controller is a implementation of a disturbance observer based control. It tries to estimate the disturbance and compensate it. This is at a very experimental stage. It works in SITL, but flies a bit aggressively which I am not sure how it would behave on a real drone.
Closing as the issue is resolved