配置搜索无人机

升级ubuntu内核

https://www.bilibili.com/video/BV11X4y1h7qN/?spm_id_from=333.337.search-card.all.click
进入四个内核文件并安装

sudo dpkg -i *.deb

安装ROS，PX4，XTDrone，QGC

https://blog.csdn.net/qq_45493236/article/details/135452827

安装激光雷达SDK和LIO

创建lio_ws工作空间

https://blog.csdn.net/dueen1123/article/details/139883945?sharetype=blogdetail&sharerId=139883945&sharerefer=PC&sharesource=dueen1123&spm=1011.2480.3001.8118

【问题1】
按照上述博客编译tbb会出现如下报错，将-9改为-O9

cd oneTBB-2019_U8
code -n build/linux.gcc-9.inc
CPLUS ?= g++ -O9
CONLY ?= gcc -O9

tju@pink:~/thirdparty/oneTBB-2019_U8$ make compiler=gcc-9 stdver=c++17 tbb_build_prefix=my_tbb_build
Created ./build/my_tbb_build_release and ..._debug directories
make -C "./build/my_tbb_build_debug"  -r -f ../../build/Makefile.tbb cfg=debug
make[1]: Entering directory '/home/tju/thirdparty/oneTBB-2019_U8/build/my_tbb_build_debug'
../../build/Makefile.tbb:28: CONFIG: cfg=debug arch=intel64 compiler=gcc-9 target=linux runtime=cc9.4.0_libc2.31_kernel5.19.17
g++ -09 -o concurrent_hash_map.o -c -MMD -DTBB_USE_DEBUG -DDO_ITT_NOTIFY -g -O0 -DUSE_PTHREAD -m64 -mrtm  -fPIC -flifetime-dse=1 -D__TBB_BUILD=1 -Wall -Wextra -Wno-parentheses -Wno-sized-deallocation  -std=c++17  -I../../src -I../../src/rml/include -I../../include ../../src/tbb/concurrent_hash_map.cpp
g++: error: unrecognized command line option ‘-09’
make[1]: *** [../../build/common_rules.inc:76: concurrent_hash_map.o] Error 1
make[1]: Leaving directory '/home/tju/thirdparty/oneTBB-2019_U8/build/my_tbb_build_debug'
make: *** [Makefile:28: tbb] Error 2

【问题2】

make[2]: *** No rule to make target '/usr/local/lib/libtbb.so', needed by '/home/tju/lio_ws/devel/lib/libfaster_lio.so'.  Stop.
make[1]: *** [CMakeFiles/Makefile2:3548: faster-lio/src/CMakeFiles/faster_lio.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Invoking "make -j16 -l16" failed

先检查/usr/local/tbb-2019_U8中有无include和lib文件
在.bashrc中加入export LD_LIBRARY_PATH=/usr/local/tbb-2019_U8/lib:$LD_LIBRARY_PATH并source

======================== ubuntu20不用重新编译tbb库，直接源码编译即可 =============================

【测试】

下载racer代码

git clone https://gitee.com/dueen1123/racer_lidar.git

将msg_MID360.launch放在~/lio_ws/src/livox_ros_driver2/launch_ROS1下
将mapping_mid360.launch放在~/lio_ws/src/faster-lio/launch下
将mid360.yaml放在~/lio_ws/src/faster-lio/config下

修改msg_MID360.launch，mapping_mid360.launch相应无人机号

<arg name="drone_id" default="0"/>

修改mid360.yaml订阅的话题名字

common:
    lid_topic:  "/iris_0/livox/lidar"
    imu_topic:  "/iris_0/livox/imu"

运行测试

roslaunch livox_ros_driver2 msg_MID360.launch
roslaunch faster_lio mapping_mid360.launch

安装racer

创建racer_ws工作空间

git clone https://gitee.com/dueen1123/racer_lidar.git

安装nlopt依赖到第三方库

git clone -b v2.7.1 https://github.com/stevengj/nlopt.git
cd nlopt
mkdir build
cd build
cmake ..
make
sudo make install

安装依赖

sudo apt-get install libarmadillo-dev

安装LKH依赖到第三方库

wget http://akira.ruc.dk/~keld/research/LKH-3/LKH-3.0.6.tgz
tar xvfz LKH-3.0.6.tgz
cd LKH-3.0.6
make
sudo cp LKH /usr/local/bin

进入到racer_ws中catkin_make

修改无人机ID号

https://winglab.yuque.com/org-wiki-winglab-pr33p1/niai7m/st1ack79856z4qx7#

需要修改
（1）~/livox_ws/src/livox_ros_driver2/launch_ROS1/msg_MID360.launch
增加无人机id号码，以及/livox/lidar和/livox/imu的重映射
（2）~/lio_ws/src/faster-lio/launch/mapping_mid360.launch
把faster_lio发布的几个话题前面也加上无人机id号
（3）/opt/ros/melodic/share/mavros/launch/px4.launch
px4前加入命名空间 iris号

飞控报错

https://blog.csdn.net/weixin_40275816/article/details/121254387

communication报错

QGC改为视觉模式