XTDrone-无人机与无人船协同初步-配置教程

说明：配置该教程时所使用的是Ubuntu20.04

1 海洋与无人船仿真环境搭建

cp -r ~/XTDrone/sitl_config/usv/* ~/catkin_ws/src/
cd catkin_ws
catkin build # or catkin_make

说明：由于官方所编写的脚本时几年之前的，所以很多东西不符合现在运行环境，因此编译时会出现很多报错，这是正常的，只需要按照提示进行修改就行。下面将是详细的报错解决办法，此外，为了节省解决报错的时间，我已将所有与关于本次配置相关的修改过的CmakeList.txt文件完整版均放在文章末尾，只需按照你的路径进行相应的修改即可使用，记得每次修改后要先保存再进行编译。

警告1

文件目录：/home/你的主机名/catkin_ws/src/wave_gazebo_plugins

这个警告指的是CMake策略CMP0054的旧行为即将被移除。CMake策略用于控制构建过程中的某些特定行为，当一个策略被标记为旧（OLD）时，意味着它在未来的CMake版本中可能会被移除，应该尽量使用新的（NEW）行为。

解决方案

为了消除这个警告，可以更新CMakeLists.txt文件中对应的策略设置。你可以查找并更新或添加以下行以使用新的行为：
cmake_policy(SET CMP0054 NEW)
具体步骤如下：
  1. 打开CMakeLists.txt文件。
  2. 找到第25行（或者附近）使用了cmake_policy指令的地方。
  3. 确保这一行是：
cmake_policy(SET CMP0054 NEW)
或者，如果没有这行指令，可以添加：
cmake_policy(SET CMP0054 NEW)
为什么会有这个警告？
CMake策略CMP0054涉及到如何处理if命令中的不明确表达式。在设置为旧行为（OLD）时，CMake会把字符串"0"、"FALSE"等视为布尔假值。在新行为（NEW）中，只有明确的布尔假值（例如OFF、NO等）会被视为假。

警告2 （usv_gazebo_plugins的也同理）

文件目录：/home/你的主机名/catkin_ws/src/usv_gazebo_plugins

 警告3

修改后的内容：用以解决警告（修改后记得保存）
std::string ShapeVolume::Display()
{
  switch (type)
  {
    case ShapeType::None:
      return "None";
    case ShapeType::Box:
      return "Box";
    case ShapeType::Cylinder:
      return "Cylinder";
    case ShapeType::Sphere:
      return "Sphere";
    default:
      return "Unknown"; // 或者一个适当的默认值
  }
}

警告4

OLD->NEW即可
文件目录/home/你的主机名/catkin_ws/src/wamv_gazebo

警告5 

同理，但是有两个地方，文件路径/home/ray/catkin_ws/src/vrx_gazebo

报错1

这意味着编译过程中尝试运行 python，但系统找不到这个命令。这通常是因为系统中没有安装 Python，或者 Python 安装在一个不同的路径下，或者系统中默认的 Python 解释器名称是 python3 而不是 python。

解决方案

以下是几种可能的解决方法：

  1. 创建符号链接： 如果系统中安装了 Python 3，但没有 python 命令，可以创建一个符号链接，将 python 指向 python3：

    sudo ln -s /usr/bin/python3 /usr/bin/python

  2. 修改脚本使用 python3： 如果可能的话，找到调用 Python 的地方，将 python 改为 python3。例如，在 CMakeLists.txt 或相关脚本中：

    /usr/bin/env python3

  3. 安装 Python： 如果系统中没有安装 Python，可以安装 Python。对于 Ubuntu 或其他基于 Debian 的系统，可以使用以下命令：

    sudo apt update
sudo apt install python2

    如果需要安装 Python 3：

    sudo apt update
sudo apt install python3

查找和修改脚本

a.查找项目中使用 python 的地方：

grep -r "/usr/bin/env python" /home/ray/catkin_ws/src/vrx_gazebo
这将显示所有包含 "/usr/bin/env python" 的文件路径。

b.编辑这些文件：

使用文本编辑器打开这些文件，并将 python 改为 python3。例如：
#!/usr/bin/env python3
完成上述步骤后，重新运行编译命令：
cd catkin_ws
catkin build
再次编译之后，又会出现新的警告和报错

警告1

这个警告是关于 CMake 的策略 CMP0048 的，它指出在 CMakeLists.txt 文件中的 project() 命令没有显式设置项目的版本信息，导致一些相关的 CMake 变量可能会被设置为空。这种警告通常不会导致编译失败，但建议根据最新的 CMake 策略设置来更新项目文件，以避免潜在的问题。

解决方案

由于其版本较老，不适合现在的应用，所以，最好对整个CMakeLists.txt 文件进行修改，修改后的文件如下：（可复制粘贴）
cmake_minimum_required(VERSION 3.0)
project(wave_gazebo_plugins VERSION 1.0.0)

###############################################################################
# Compile as C++11, supported in ROS Noetic and newer

set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

# Set policy for CMake 3.1+. Use OLD policy to let FindBoost.cmake, dependency
# of gazebo, use quoted variables in if()
if(POLICY CMP0048)
  cmake_policy(SET CMP0048 NEW)
endif()

###############################################################################
# Other dependencies...

find_package(catkin REQUIRED COMPONENTS gazebo_ros)
find_package(gazebo REQUIRED)
find_package(Eigen3 REQUIRED)

############################################################################### 
# Catkin...

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES
    Hydrodynamics
    WavefieldModelPlugin
    WavefieldVisualPlugin
    wavegauge_plugin
  DEPENDS
    gazebo_ros
)

############################################################################### 
# Libraries...

# Hydrodynamics
add_library(Hydrodynamics
  SHARED
    src/Gazebo.cc
    src/Geometry.cc
    src/PhysicalConstants.cc
    src/Physics.cc
    src/Utilities.cc
    src/Wavefield.cc
    src/WavefieldEntity.cc
)

target_include_directories(Hydrodynamics
  PRIVATE
    ${PROJECT_SOURCE_DIR}/include
    ${Boost_INCLUDE_DIRS}
    ${catkin_INCLUDE_DIRS}
    ${EIGEN3_INCLUDE_DIR}
    ${GAZEBO_INCLUDE_DIRS}
    ${GAZEBO_MSG_INCLUDE_DIRS}
    ${IGNITION-COMMON_INCLUDE_DIRS}
    ${IGNITION-MATHS_INCLUDE_DIRS}
    ${IGNITION-MSGS_INCLUDE_DIRS}
)

target_link_directories(Hydrodynamics
  PRIVATE
    ${GAZEBO_LIBRARY_DIRS}
    ${IGNITION-COMMON_LIBRARY_DIRS}
    ${IGNITION-MATHS_LIBRARY_DIRS}
    ${IGNITION-MSGS_LIBRARY_DIRS}
)

target_link_libraries(Hydrodynamics
  ${Boost_LIBRARIES}
  ${catkin_LIBRARIES}
  ${GAZEBO_LIBRARIES}
)

target_compile_features(Hydrodynamics PRIVATE cxx_std_14)
target_compile_options(Hydrodynamics PRIVATE "-Wno-unknown-pragmas")

list(APPEND WAVE_GAZEBO_LIBRARIES_LIST Hydrodynamics)

############################################################################### 
# Plugins...

# WavefieldModelPlugin
add_library(WavefieldModelPlugin
  SHARED
    src/WavefieldModelPlugin.cc
)

target_link_libraries(WavefieldModelPlugin
  ${Boost_LIBRARIES}
  ${catkin_LIBRARIES}
  ${GAZEBO_LIBRARIES}
  ${WAVE_GAZEBO_LIBRARIES_LIST}
)

target_compile_features(WavefieldModelPlugin PRIVATE cxx_std_14)
target_compile_options(WavefieldModelPlugin PRIVATE "-Wno-unknown-pragmas")

list(APPEND WAVE_GAZEBO_PLUGINS_LIST WavefieldModelPlugin)

# WavefieldVisualPlugin
add_library(WavefieldVisualPlugin
  SHARED
    src/WavefieldVisualPlugin.cc
)

target_link_libraries(WavefieldVisualPlugin
  ${Boost_LIBRARIES}
  ${catkin_LIBRARIES}
  ${GAZEBO_LIBRARIES}
  ${WAVE_GAZEBO_LIBRARIES_LIST}
)

target_compile_features(WavefieldVisualPlugin PRIVATE cxx_std_14)
target_compile_options(WavefieldVisualPlugin PRIVATE "-Wno-unknown-pragmas")

list(APPEND WAVE_GAZEBO_PLUGINS_LIST WavefieldVisualPlugin)

# WavegaugePlugin
add_library(wavegauge_plugin
  SHARED
    src/wavegauge_plugin.cc
)

target_link_libraries(wavegauge_plugin
  WavefieldModelPlugin
  ${Boost_LIBRARIES}
  ${catkin_LIBRARIES}
  ${GAZEBO_LIBRARIES}
  ${WAVE_GAZEBO_LIBRARIES_LIST}
)

add_dependencies(wavegauge_plugin WavefieldModelPlugin)

target_compile_features(wavegauge_plugin PRIVATE cxx_std_14)
target_compile_options(wavegauge_plugin PRIVATE "-Wno-unknown-pragmas")

list(APPEND WAVE_GAZEBO_PLUGINS_LIST wavegauge_plugin)

############################################################################### 
# Executables...


############################################################################### 
# Tests...

if(CATKIN_ENABLE_TESTING)

  catkin_add_gtest(UNIT_Wavefield_TEST src/Wavefield_TEST.cc)
  target_link_libraries(UNIT_Wavefield_TEST ${WAVE_GAZEBO_LIBRARIES_LIST})
  target_compile_features(UNIT_Wavefield_TEST PRIVATE cxx_std_14)
  target_compile_options(UNIT_Wavefield_TEST PRIVATE "-Wno-unknown-pragmas")

endif()

############################################################################### 
# Install

install(
  TARGETS
    ${WAVE_GAZEBO_LIBRARIES_LIST}
    ${WAVE_GAZEBO_PLUGINS_LIST}
    wavegauge_plugin
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(
  DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.hh"
)

install(
  DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.pb.*"
)

 警告2 同理进行修改即可

修改后的完整文件：
cmake_minimum_required(VERSION 3.0)
project(usv_gazebo_plugins VERSION 1.0.0)

# Set policy for CMake 3.1+. Use OLD policy to let FindBoost.cmake, dependency
# of gazebo, use quoted variables in if()
if(POLICY CMP0048)
  cmake_policy(SET CMP0048 NEW)
endif()

find_package(catkin REQUIRED COMPONENTS gazebo_dev roscpp message_generation xacro wave_gazebo_plugins usv_msgs)
find_package(Eigen3 REQUIRED)

###################################
## catkin specific configuration ##
###################################

catkin_package(
  INCLUDE_DIRS include
  CATKIN_DEPENDS message_runtime gazebo_dev roscpp wave_gazebo_plugins
)

# Plugins require c++14

set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

include_directories( include
  ${catkin_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIRS}
)
link_directories(
  ${catkin_LIBRARY_DIRS}
)

## Declare a C++ library
add_library(buoyancy_gazebo_plugin
  src/buoyancy_gazebo_plugin.cc
  src/shape_volume.cc
  src/polyhedron_volume.cc
)
target_link_libraries(buoyancy_gazebo_plugin
  ${catkin_LIBRARIES}
  ${GAZEBO_LIBRARIES}
  ${Eigen_LIBRARIES}
)
install(TARGETS buoyancy_gazebo_plugin
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

## Declare a C++ library
add_library(usv_gazebo_dynamics_plugin
  src/usv_gazebo_dynamics_plugin.cc
)
target_link_libraries(usv_gazebo_dynamics_plugin
  ${catkin_LIBRARIES}
  ${Eigen_LIBRARIES}
)
install(TARGETS usv_gazebo_dynamics_plugin
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

## Declare a C++ library
add_library(usv_gazebo_thrust_plugin
  src/usv_gazebo_thrust_plugin.cc
)
target_link_libraries(usv_gazebo_thrust_plugin
  ${catkin_LIBRARIES}
  ${Eigen_LIBRARIES}
)
install(TARGETS usv_gazebo_thrust_plugin
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

## Declare a C++ library
add_library(usv_gazebo_wind_plugin
  src/usv_gazebo_wind_plugin.cc
)
target_link_libraries(usv_gazebo_wind_plugin
  ${catkin_LIBRARIES}
  ${Eigen_LIBRARIES}
)
install(TARGETS usv_gazebo_wind_plugin
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

## Declare a C++ library
add_library(usv_gazebo_acoustic_pinger_plugin
  src/acoustic_pinger_plugin.cc
)
add_dependencies(usv_gazebo_acoustic_pinger_plugin usv_msgs_generate_messages_cpp)
target_link_libraries(usv_gazebo_acoustic_pinger_plugin
  ${catkin_LIBRARIES}
  ${Eigen_LIBRARIES}
)
install(TARGETS usv_gazebo_acoustic_pinger_plugin
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

set(XACRO_INORDER)
if(DEFINED ENV{ROS_DISTRO})
  if($ENV{ROS_DISTRO} STREQUAL "kinetic")
    set(XACRO_INORDER INORDER)
  endif()
endif()

# Generate demo world files from xacro and install
xacro_add_files(
  worlds/buoyancy_plugin_demo.world.xacro
  ${XACRO_INORDER} INSTALL DESTINATION worlds
)
install(DIRECTORY worlds/
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/worlds)

if(CATKIN_ENABLE_TESTING)
  # buoyancy plugin test
  catkin_add_gtest(buoyancy_plugin_test test/buoyancy_test.cc)
  target_link_libraries(buoyancy_plugin_test buoyancy_gazebo_plugin)
endif()
 修改完成后，再次编译会先后出现如下的几个报错：

上述这个报错是找不到是因为在编译wave_gazebo_plugins功能包时，出现了无法找到 gazebo/gazebo.hh 和 gazebo/common/Assert.hh 头文件问题。

解决办法：

a.输入如下命令来查询 Gazebo 的安装路径。
pkg-config --cflags gazebo
pkg-config --libs gazebo
输入后会有以下输出：它包含安装路径，版本等
  • --cflags 选项会显示编译时所需的头文件路径。
  • --libs 选项会显示链接时所需的库路径。

 或者输入如下指令直接寻找报错的未寻找到的文件：
find /usr -name gazebo.hh  # 文件名根据你的报错来修改
该命令运行后的正常输入示例如下（安装了gazebo的前提下）

 b. 查询结束后，按照你的查询结果修改如下两条代码，并将其加入到wave_gazebo_plugins功能包的CMakeLists.txt文件中，并保存，确保将 GAZEBO_INCLUDE_DIRS 和 GAZEBO_LIBRARY_DIRS 变量中的路径更新为你实际系统中的路径。
# 根据你所查询到的路径和版本来进行修改
set(GAZEBO_INCLUDE_DIRS "/usr/include/gazebo-9" "/usr/include/sdformat-6.3" "/usr/include/ignition/transport4" "/usr/include/ignition/msgs1" "/usr/include/ignition/math4")
set(GAZEBO_LIBRARY_DIRS "/usr/lib/x86_64-linux-gnu/gazebo-9/plugins")
具体添位置见下图

c.增加如下代码，以确保包含 Gazebo 的头文件路径和有链接 Gazebo 的库文件路径
# 该条代码添加到target_include_directories(Hydrodynamics PRIVATE)中
${GAZEBO_INCLUDE_DIRS} # 确保包含 Gazebo 的 include 路径
target_link_directories(Hydrodynamics
PRIVATE
${GAZEBO_LIBRARY_DIRS} # 确保链接 Gazebo 的库路径
)
具体添加位置见下图

至此，关于编译 wave_gazebo_plugins功能包时，gazebo头文件无法找到的相关报错即可解决。

报错2 以下三个报错均是与找不到与OGRE库相关的头文件有关，因为Gazebo 依赖于 OGRE 进行渲染，所以你需要安装 OGRE 库及其开发文件。

解决方法：

a.输入以下命令确保你的系统已经安装了必要的 OGRE 包
sudo apt-get install libogre-1.9-dev
b. 如果你已经安装了 OGRE，但还是出现找不到头文件的问题，你需要手动指定 OGRE 的包含路径和库路径。在 CMake 文件中，可以添加如下内容：
首先输入如下命令，检查你的OGRE路径
find /usr -name OGRE

然后在 CMake 文件中，分别添加如下内容：
# 添加额外的 OGRE 包含路径，确保找到所需的头文件 根据你上面所查找的路径来改
list(APPEND OGRE_INCLUDE_DIRS "/usr/include/OGRE")
list(APPEND OGRE_INCLUDE_DIRS "/usr/include/OGRE/Paging")
具体添加位置如下图所示

${OGRE_INCLUDE_DIRS}     # 确保包含 OGRE 的额外路径
具体添加位置如下图所示

${OGRE_INCLUDE_DIRS}  # 确保包含 OGRE 的 include 路径
具体添加位置如下图所示

  ${OGRE_LIBRARIES}  # 确保链接 OGRE 库
具体添加位置如下图所示

至此，关于编译 wave_gazebo_plugins功能包时与 OGRE相关的头文件找不到的报错即可解决。由于官方所给的文件版本较老，不适应当前的运行环境，所以我将所有与关于本次配置相关的修改过的CmakeList.txt文件完整版均放在文章末尾，只需按照你的路径进行相应的修改即可使用，记得每次修改后要先保存再进行编译。

保存后，在运行以下代码进行编译

cd catkin_ws/
catkin build

编译成功后就会如下图所示

2 启动仿真

运行如下代码
roslaunch px4 sandisland.launch
运行后会出现如下报错：

解决办法

原因是PX4_Firmware/launch文件夹中并没有sandisland.launch文件，只需将
/home/你的主机名/catkin_ws/src/vrx_gazebo/launch目录下的sandisland.launch文件复制放在PX4_Firmware/launch中即可

成功运行sandisland.launch文件的效果如下图所示，但是你会发现在仿真环境中并没有无人机，与官网上的视频不同。

解决办法

利用多无人机生成脚本生成多无人机启动launch文件，详细教程见：XTDrone-多机仿真-配置教程-CSDN博客
然后将启动文件中生生成多无人机部分代码加入到PX4_Firmware/launch下的sandisland.launch文件中，并修改相应的位置参数，修改后的完整sandisland.launch文件如下：(可直接复制粘贴，修改后记得保存)
<?xml version="1.0"?>
<launch>
  <env name="ROSCONSOLE_CONFIG_FILE" value="$(find vrx_gazebo)/config/custom_rosconsole.conf"/>
  <!-- Gazebo world to load -->
  <arg name="world" default="$(find vrx_gazebo)/worlds/example_course.world" />
  <!-- If true, run gazebo GUI -->
  <arg name="gui" default="true" />
  <!-- If true, run gazebo in verbose mode -->
  <arg name="verbose" default="false"/>
  <!-- If true, start in paused state -->
  <arg name="paused" default="false"/>
  <!-- Set various other gazebo arguments-->
  <arg name="extra_gazebo_args" default=""/>
  <!-- Start in a default namespace -->
  <arg name="namespace" default="wamv"/>

  <!-- Initial USV location and attitude-->
  <arg name="x" default="158" />
  <arg name="y" default="108" />
  <arg name="z" default="0.1" />
  <arg name="P" default="0" />
  <arg name="R" default="0" />
  <arg name="Y" default="-2.76" />

  <!-- If true, show non-competition ROS topics (/gazebo/model_states, /vrx/debug/wind/direction, etc.)-->
  <arg name="non_competition_mode" default="true"/>
  <arg name="enable_ros_network" value="$(arg non_competition_mode)"/>
  <env name="VRX_DEBUG" value="$(arg non_competition_mode)"/>
  <env unless="$(arg non_competition_mode)" name="GAZEBO_MODEL_PATH" value="$(find vrx_gazebo)/models:$(find wamv_gazebo)/models:$(find wamv_description)/models:$(optenv GAZEBO_MODEL_PATH)"/>

  <!-- Allow user specified thruster configurations
       H = stern thrusters on each hull
       T = H with a lateral thruster
       X = "holonomic" configuration -->
  <arg name="thrust_config" default="H" />

  <!-- Do you want to enable sensors? -->
  <arg name="camera_enabled" default="false" />
  <arg name="gps_enabled" default="false" />
  <arg name="imu_enabled" default="false" />
  <arg name="lidar_enabled" default="false" />
  <arg name="ground_truth_enabled" default="false" />

  <!-- Start Gazebo with the world file -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(arg world)"/>
    <arg name="verbose" value="$(arg verbose)"/>
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="$(arg gui)" />
    <arg name="enable_ros_network" value="$(arg enable_ros_network)"/>
    <arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)"/>
  </include>

  <!-- Load robot model -->
  <arg name="urdf" default="$(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro"/>
  <param name="$(arg namespace)/robot_description" 
         command="$(find xacro)/xacro --inorder '$(arg urdf)' 
         thruster_config:=$(arg thrust_config) 
         camera_enabled:=$(arg camera_enabled) 
         gps_enabled:=$(arg gps_enabled) 
         imu_enabled:=$(arg imu_enabled) 
         lidar_enabled:=$(arg lidar_enabled) 
         ground_truth_enabled:=$(arg ground_truth_enabled) 
         namespace:=$(arg namespace)"/>

  <!-- 添加无人机 -->
  <!-- iris_0 -->
  <group ns="iris_0">
    <!-- MAVROS and vehicle configs -->
    <arg name="ID" value="0"/>
    <arg name="ID_in_group" value="0"/>
    <arg name="fcu_url" default="udp://:24540@localhost:34580"/>
    <!-- PX4 SITL and vehicle spawn -->
    <include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
      <arg name="x" value="170"/>
      <arg name="y" value="120"/>
      <arg name="z" value="2"/>
      <arg name="R" value="0"/>
      <arg name="P" value="0"/>
      <arg name="Y" value="0"/>
      <arg name="vehicle" value="iris"/>
      <arg name="sdf" value="iris_stereo_camera"/>
      <arg name="mavlink_udp_port" value="18570"/>
      <arg name="mavlink_tcp_port" value="4560"/>
      <arg name="udp_gimbal_port" value="13030"/>
      <arg name="ID" value="$(arg ID)"/>
      <arg name="ID_in_group" value="$(arg ID_in_group)"/>
    </include>
    <!-- MAVROS -->
    <include file="$(find mavros)/launch/px4.launch">
      <arg name="fcu_url" value="$(arg fcu_url)"/>
      <arg name="gcs_url" value=""/>
      <arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
      <arg name="tgt_component" value="1"/>
    </include>
  </group>

  <!-- iris_1 -->
  <group ns="iris_1">
    <!-- MAVROS and vehicle configs -->
    <arg name="ID" value="1"/>
    <arg name="ID_in_group" value="1"/>
    <arg name="fcu_url" default="udp://:24541@localhost:34581"/>
    <!-- PX4 SITL and vehicle spawn -->
    <include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
      <arg name="x" value="170"/>
      <arg name="y" value="116"/>
      <arg name="z" value="2"/>
      <arg name="R" value="0"/>
      <arg name="P" value="0"/>
      <arg name="Y" value="0"/>
      <arg name="vehicle" value="iris"/>
      <arg name="sdf" value="iris_stereo_camera"/>
      <arg name="mavlink_udp_port" value="18571"/>
      <arg name="mavlink_tcp_port" value="4561"/>
      <arg name="udp_gimbal_port" value="13031"/>
      <arg name="ID" value="$(arg ID)"/>
      <arg name="ID_in_group" value="$(arg ID_in_group)"/>
    </include>
    <!-- MAVROS -->
    <include file="$(find mavros)/launch/px4.launch">
      <arg name="fcu_url" value="$(arg fcu_url)"/>
      <arg name="gcs_url" value=""/>
      <arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
      <arg name="tgt_component" value="1"/>
    </include>
  </group>

  <!-- iris_2 -->
  <group ns="iris_2">
    <!-- MAVROS and vehicle configs -->
    <arg name="ID" value="2"/>
    <arg name="ID_in_group" value="2"/>
    <arg name="fcu_url" default="udp://:24542@localhost:34582"/>
    <!-- PX4 SITL and vehicle spawn -->
    <include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
      <arg name="x" value="172"/>
      <arg name="y" value="120"/>
      <arg name="z" value="2"/>
      <arg name="R" value="0"/>
      <arg name="P" value="0"/>
      <arg name="Y" value="0"/>
      <arg name="vehicle" value="iris"/>
      <arg name="sdf" value="iris_stereo_camera"/>
      <arg name="mavlink_udp_port" value="18572"/>
      <arg name="mavlink_tcp_port" value="4562"/>
      <arg name="udp_gimbal_port" value="13032"/>
      <arg name="ID" value="$(arg ID)"/>
      <arg name="ID_in_group" value="$(arg ID_in_group)"/>
    </include>
    <!-- MAVROS -->
    <include file="$(find mavros)/launch/px4.launch">
      <arg name="fcu_url" value="$(arg fcu_url)"/>
      <arg name="gcs_url" value=""/>
      <arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
      <arg name="tgt_component" value="1"/>
    </include>
  </group>

  <!-- iris_3 -->
  <group ns="iris_3">
    <!-- MAVROS and vehicle configs -->
    <arg name="ID" value="3"/>
    <arg name="ID_in_group" value="3"/>
    <arg name="fcu_url" default="udp://:24543@localhost:34583"/>
    <!-- PX4 SITL and vehicle spawn -->
    <include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
      <arg name="x" value="172"/>
      <arg name="y" value="116"/>
      <arg name="z" value="2"/>
      <arg name="R" value="0"/>
      <arg name="P" value="0"/>
      <arg name="Y" value="0"/>
      <arg name="vehicle" value="iris"/>
      <arg name="sdf" value="iris_stereo_camera"/>
      <arg name="mavlink_udp_port" value="18573"/>
      <arg name="mavlink_tcp_port" value="4563"/>
      <arg name="udp_gimbal_port" value="13033"/>
      <arg name="ID" value="$(arg ID)"/>
      <arg name="ID_in_group" value="$(arg ID_in_group)"/>
    </include>
    <!-- MAVROS -->
    <include file="$(find mavros)/launch/px4.launch">
      <arg name="fcu_url" value="$(arg fcu_url)"/>
      <arg name="gcs_url" value=""/>
      <arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
      <arg name="tgt_component" value="1"/>
    </include>
  </group>

  <!-- iris_4 -->
  <group ns="iris_4">
    <!-- MAVROS and vehicle configs -->
    <arg name="ID" value="4"/>
    <arg name="ID_in_group" value="4"/>
    <arg name="fcu_url" default="udp://:24544@localhost:34584"/>
    <!-- PX4 SITL and vehicle spawn -->
    <include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
      <arg name="x" value="174"/>
      <arg name="y" value="120"/>
      <arg name="z" value="2"/>
      <arg name="R" value="0"/>
      <arg name="P" value="0"/>
      <arg name="Y" value="0"/>
      <arg name="vehicle" value="iris"/>
      <arg name="sdf" value="iris_stereo_camera"/>
      <arg name="mavlink_udp_port" value="18574"/>
      <arg name="mavlink_tcp_port" value="4564"/>
      <arg name="udp_gimbal_port" value="13034"/>
      <arg name="ID" value="$(arg ID)"/>
      <arg name="ID_in_group" value="$(arg ID_in_group)"/>
    </include>
    <!-- MAVROS -->
    <include file="$(find mavros)/launch/px4.launch">
      <arg name="fcu_url" value="$(arg fcu_url)"/>
      <arg name="gcs_url" value=""/>
      <arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
      <arg name="tgt_component" value="1"/>
    </include>
  </group>

  <!-- iris_5 -->
  <group ns="iris_5">
    <!-- MAVROS and vehicle configs -->
    <arg name="ID" value="5"/>
    <arg name="ID_in_group" value="5"/>
    <arg name="fcu_url" default="udp://:24545@localhost:34585"/>
    <!-- PX4 SITL and vehicle spawn -->
    <include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
      <arg name="x" value="174"/>
      <arg name="y" value="116"/>
      <arg name="z" value="2"/>
      <arg name="R" value="0"/>
      <arg name="P" value="0"/>
      <arg name="Y" value="0"/>
      <arg name="vehicle" value="iris"/>
      <arg name="sdf" value="iris_stereo_camera"/>
      <arg name="mavlink_udp_port" value="18575"/>
      <arg name="mavlink_tcp_port" value="4565"/>
      <arg name="udp_gimbal_port" value="13035"/>
      <arg name="ID" value="$(arg ID)"/>
      <arg name="ID_in_group" value="$(arg ID_in_group)"/>
    </include>
    <!-- MAVROS -->
    <include file="$(find mavros)/launch/px4.launch">
      <arg name="fcu_url" value="$(arg fcu_url)"/>
      <arg name="gcs_url" value=""/>
      <arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
      <arg name="tgt_component" value="1"/>
    </include>
  </group>

  <!-- Spawn model in Gazebo, script depending on non_competition_mode -->
  <node name="spawn_model" pkg="gazebo_ros" type="spawn_model" if="$(arg non_competition_mode)"
        args="-x $(arg x) -y $(arg y) -z $(arg z)
              -R $(arg R) -P $(arg P) -Y $(arg Y)
              -urdf -param $(arg namespace)/robot_description -model wamv"/>

  <node name="spawn_wamv" pkg="vrx_gazebo" type="spawn_wamv.bash" unless="$(arg non_competition_mode)"
        args="-x $(arg x) -y $(arg y) -z $(arg z)
              -R $(arg R) -P $(arg P) -Y $(arg Y)
              --urdf $(arg urdf) --model wamv"/>
</launch>
 然后再次运行仿真环境启动脚本，则会发现无人机与无人船都有了
roslaunch px4 sandisland.launch

至此，包含着无人机和无人船的方正环境启动完毕。
然后推出仿真环境，并关闭启动命令运行窗口。

3 为了用键盘控制无人机，需要检查PX4飞控EKF配置，原理可参考PX4飞控EKF配置 · 语雀。

首先，运行下列命令打开rcS文件
gedit ~/PX4_Firmware/build/px4_sitl_default/etc/init.d-posix/rcS
 确保文件中的GPS部分做了如下修改（图中红框部分）

4 真正式启动仿真环境

启动gazebo仿真环境：

cd PX4_Firmware/
roslaunch px4 sandisland.launch

启动多无人机通信脚本：

cd ~/XTDrone/communication/
bash multi_vehicle_communication.sh

启动无人机控制键盘：

cd ~/XTDrone/control/keyboard
python3 multirotor_keyboard_control.py iris 6 vel  # 根据你所启动的无人机数量来修改第二个参数

无人船控制

可以通过下面的话题来控制无人船的运动：
/wamv/thrusters/left_thrust_angle
/wamv/thrusters/left_thrust_cmd
/wamv/thrusters/right_thrust_angle
/wamv/thrusters/right_thrust_cmd
比如给左右推进器相同的推力:
rostopic pub -r 1  /wamv/thrusters/left_thrust_cmd std_msgs/Float32 "data: 1.0" 
rostopic pub -r 1  /wamv/thrusters/right_thrust_cmd std_msgs/Float32 "data: 1.0"

5 最终的运行效果展示

说明：虽然本次启动了6架无人机，都已成功建立了通信，但最后只有四架无人机起飞，不过也没关系，不影响仿真效果。
至此，所有配置均已完成，前路漫漫，任重道远，遇到问题不要着急，逐一解决即可。

6 各功能包修改后的完整版CMakeList.txt文件

6.1 usv_gazebo_plugins

cmake_minimum_required(VERSION 3.0)
project(usv_gazebo_plugins VERSION 1.0.0)

# Set policy for CMake 3.1+. Use OLD policy to let FindBoost.cmake, dependency
# of gazebo, use quoted variables in if()
if(POLICY CMP0048)
  cmake_policy(SET CMP0048 NEW)
endif()

find_package(catkin REQUIRED COMPONENTS gazebo_dev roscpp message_generation xacro wave_gazebo_plugins usv_msgs)
find_package(Eigen3 REQUIRED)

###################################
## catkin specific configuration ##
###################################

catkin_package(
  INCLUDE_DIRS include
  CATKIN_DEPENDS message_runtime gazebo_dev roscpp wave_gazebo_plugins
)

# Plugins require c++14

set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

include_directories( include
  ${catkin_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIRS}
)
link_directories(
  ${catkin_LIBRARY_DIRS}
)

## Declare a C++ library
add_library(buoyancy_gazebo_plugin
  src/buoyancy_gazebo_plugin.cc
  src/shape_volume.cc
  src/polyhedron_volume.cc
)
target_link_libraries(buoyancy_gazebo_plugin
  ${catkin_LIBRARIES}
  ${GAZEBO_LIBRARIES}
  ${Eigen_LIBRARIES}
)
install(TARGETS buoyancy_gazebo_plugin
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

## Declare a C++ library
add_library(usv_gazebo_dynamics_plugin
  src/usv_gazebo_dynamics_plugin.cc
)
target_link_libraries(usv_gazebo_dynamics_plugin
  ${catkin_LIBRARIES}
  ${Eigen_LIBRARIES}
)
install(TARGETS usv_gazebo_dynamics_plugin
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

## Declare a C++ library
add_library(usv_gazebo_thrust_plugin
  src/usv_gazebo_thrust_plugin.cc
)
target_link_libraries(usv_gazebo_thrust_plugin
  ${catkin_LIBRARIES}
  ${Eigen_LIBRARIES}
)
install(TARGETS usv_gazebo_thrust_plugin
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

## Declare a C++ library
add_library(usv_gazebo_wind_plugin
  src/usv_gazebo_wind_plugin.cc
)
target_link_libraries(usv_gazebo_wind_plugin
  ${catkin_LIBRARIES}
  ${Eigen_LIBRARIES}
)
install(TARGETS usv_gazebo_wind_plugin
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

## Declare a C++ library
add_library(usv_gazebo_acoustic_pinger_plugin
  src/acoustic_pinger_plugin.cc
)
add_dependencies(usv_gazebo_acoustic_pinger_plugin usv_msgs_generate_messages_cpp)
target_link_libraries(usv_gazebo_acoustic_pinger_plugin
  ${catkin_LIBRARIES}
  ${Eigen_LIBRARIES}
)
install(TARGETS usv_gazebo_acoustic_pinger_plugin
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

set(XACRO_INORDER)
if(DEFINED ENV{ROS_DISTRO})
  if($ENV{ROS_DISTRO} STREQUAL "noetic")
    set(XACRO_INORDER INORDER)
  endif()
endif()

# Generate demo world files from xacro and install
xacro_add_files(
  worlds/buoyancy_plugin_demo.world.xacro
  ${XACRO_INORDER} INSTALL DESTINATION worlds
)
install(DIRECTORY worlds/
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/worlds)

if(CATKIN_ENABLE_TESTING)
  # buoyancy plugin test
  catkin_add_gtest(buoyancy_plugin_test test/buoyancy_test.cc)
  target_link_libraries(buoyancy_plugin_test buoyancy_gazebo_plugin)
endif()

install(DIRECTORY include/${PROJECT_NAME}/
        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})

6.2 usv_msgs

cmake_minimum_required(VERSION 2.8.3)
project(usv_msgs)

find_package(catkin REQUIRED COMPONENTS
  message_generation
  message_runtime
  std_msgs
)

add_message_files(
   FILES
   RangeBearing.msg
)

generate_messages(
  DEPENDENCIES
  std_msgs
)

catkin_package(
   CATKIN_DEPENDS message_generation message_runtime std_msgs
)

include_directories(
  ${catkin_INCLUDE_DIRS}
)

6.3  vrx_gazebo

cmake_minimum_required(VERSION 2.8.3)
project(vrx_gazebo)

# We need erb to process the .world.erb files.
find_program(ERB_EXE_PATH erb)
if(NOT ERB_EXE_PATH)
  message(FATAL_ERROR "Could not find the `erb` tool.  Try `sudo apt-get install ruby`")
endif()

# For Qt
set(CMAKE_AUTOMOC ON)
set(CMAKE_AUTOUIC ON)

# Set policy for CMake 3.1+. Use OLD policy to let FindBoost.cmake, dependency
# of gazebo, use quoted variables in if()
if(POLICY CMP0054)
  cmake_policy(SET CMP0054 NEW)
endif()
# Use OLD policy to be able to use *_generate_services_cpp before they exist,
# without error.
if(POLICY CMP0046)
  cmake_policy(SET CMP0046 NEW)
endif()

find_package(Qt5Widgets REQUIRED)
find_package(Qt5Core REQUIRED)
find_package(Protobuf REQUIRED)
find_package(gazebo REQUIRED)

find_package(catkin REQUIRED COMPONENTS
  gazebo_dev
  geographic_msgs
  message_generation
  roscpp
  rospy
  std_msgs
  wamv_gazebo
  wave_gazebo
  xacro
)

########################
## Message generation ##
########################

add_message_files(
  FILES
  Task.msg
  Contact.msg
)

add_service_files(
  FILES
  ColorSequence.srv
)

# Python scripts setup
catkin_python_setup()

generate_messages(
  DEPENDENCIES
  std_msgs
)

catkin_package(
  INCLUDE_DIRS include
  CATKIN_DEPENDS wamv_gazebo wave_gazebo xacro gazebo_dev geographic_msgs std_msgs message_runtime
  LIBRARIES scoring_plugin
)

set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}") 

include_directories(include ${catkin_INCLUDE_DIRS}
  ${Qt5Core_INCLUDE_DIRS}
  ${QT_USE_FILE}
  ${GAZEBO_INCLUDE_DIRS}
  ${CMAKE_CURRENT_BINARY_DIR}/msgs
)

link_directories(${GAZEBO_LIBRARY_DIRS} ${CMAKE_CURRENT_BINARY_DIR}/msgs)
add_subdirectory(msgs)

add_definitions(${QT_DEFINITIONS})

# Library for displaying waypoint markers
add_library(waypoint_markers src/waypoint_markers.cc)
target_link_libraries(waypoint_markers ${catkin_LIBRARIES})
add_dependencies(waypoint_markers ${catkin_EXPORTED_TARGETS})
install(TARGETS waypoint_markers
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

# Plugin for setting color of light buoy.
add_library(light_buoy_plugin src/light_buoy_plugin.cc)
target_link_libraries(light_buoy_plugin
  ${catkin_LIBRARIES} 
  light_buoy_colors_msgs
)
add_dependencies(light_buoy_plugin ${catkin_EXPORTED_TARGETS}
  light_buoy_colors_msgs
)
install(TARGETS light_buoy_plugin
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

# Plugin for setting color and shape of a placard.
add_library(placard_plugin src/placard_plugin.cc)
target_link_libraries(placard_plugin
  ${catkin_LIBRARIES}
  dock_placard_msgs
)
add_dependencies(placard_plugin
  ${catkin_EXPORTED_TARGETS}
  dock_placard_msgs
)
install(TARGETS placard_plugin
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

# A generic scoring plugin.
add_library(scoring_plugin src/scoring_plugin.cc)
target_link_libraries(scoring_plugin
  ${catkin_LIBRARIES}
)
add_dependencies(scoring_plugin
  ${catkin_EXPORTED_TARGETS}
  vrx_gazebo_generate_messages_cpp
  vrx_gazebo_generate_services_cpp
)
install(TARGETS scoring_plugin
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

# Plugin for scoring the navigation challenge task.
add_library(navigation_scoring_plugin src/navigation_scoring_plugin.cc)
target_link_libraries(navigation_scoring_plugin
  ${catkin_LIBRARIES}
  scoring_plugin)
add_dependencies(navigation_scoring_plugin ${catkin_EXPORTED_TARGETS})
install(TARGETS navigation_scoring_plugin
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

# Plugin for scoring the station keeping challenge task.
add_library(stationkeeping_scoring_plugin src/stationkeeping_scoring_plugin.cc)
target_link_libraries(stationkeeping_scoring_plugin
  ${catkin_LIBRARIES}
  scoring_plugin
  waypoint_markers)
add_dependencies(stationkeeping_scoring_plugin ${catkin_EXPORTED_TARGETS})
install(TARGETS stationkeeping_scoring_plugin
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

# Plugin for scoring the waypoint navigation challenge task.
add_library(wayfinding_scoring_plugin src/wayfinding_scoring_plugin.cc)
target_link_libraries(wayfinding_scoring_plugin
  ${catkin_LIBRARIES}
  scoring_plugin
  waypoint_markers)
add_dependencies(wayfinding_scoring_plugin ${catkin_EXPORTED_TARGETS})
install(TARGETS wayfinding_scoring_plugin
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

# Plugin for scoring the scan and dock task.
add_library(scan_dock_scoring_plugin src/scan_dock_scoring_plugin.cc)
target_link_libraries(scan_dock_scoring_plugin
  ${catkin_LIBRARIES}
  scoring_plugin 
  light_buoy_colors_msgs
  dock_placard_msgs
  )
add_dependencies(scan_dock_scoring_plugin
  ${catkin_EXPORTED_TARGETS}
  light_buoy_colors_msgs
  dock_placard_msgs
)
install(TARGETS scan_dock_scoring_plugin
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

if(${GAZEBO_MAJOR_VERSION} GREATER 7)
  # Plugin for Task Info GUI Overlay
  add_library(gui_task_widget SHARED ${headers_MOC}
         	src/gui_task_widget.cc
  )

  target_link_libraries(gui_task_widget 
    ${catkin_LIBRARIES}
    ${GAZEBO_LIBRARIES}
    ${PROTOBUF_LIBRARIES}
    ${QT_LIBRARIES}
  )
  qt5_use_modules(gui_task_widget Widgets)
  add_dependencies(gui_task_widget ${catkin_EXPORTED_TARGETS})
  install(TARGETS gui_task_widget
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
  )
endif()

# Plugin for scoring the perception task.
add_library(perception_scoring_plugin src/perception_scoring_plugin.cc)
target_link_libraries(perception_scoring_plugin
  ${catkin_LIBRARIES}
  scoring_plugin)
add_dependencies(perception_scoring_plugin ${catkin_EXPORTED_TARGETS})
install(TARGETS perception_scoring_plugin
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

# Dock base files that need to be processed with erb
set(dock_base_erb_files
  models/dock_2016_base/model.sdf.erb
  models/dock_2018_base/model.sdf.erb
  models/dock_2016_base_dynamic/model.sdf.erb
  models/dock_2018_base_dynamic/model.sdf.erb
)

# Dock files that need to be processed with erb
set(dock_erb_files
  models/dock_2016/model.sdf.erb
  models/dock_2018/model.sdf.erb
  models/dock_2016_dynamic/model.sdf.erb
  models/dock_2018_dynamic/model.sdf.erb
)

# Process the dock base erb files
foreach(_erb ${dock_base_erb_files})
  string(REGEX REPLACE ".sdf.erb" ".sdf" _model ${_erb})
  set(_model ${CMAKE_CURRENT_SOURCE_DIR}/${_model})
  add_custom_command(OUTPUT ${_model}
                     COMMAND ${ERB_EXE_PATH} ${_erb} > ${_model}
                     DEPENDS
                       ${CMAKE_CURRENT_SOURCE_DIR}/${_erb}
                       ${CMAKE_CURRENT_SOURCE_DIR}/dock_generator.erb
                     WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})

  list(APPEND dock_base_files ${_model})
endforeach()
add_custom_target(dock_base_erb_generation ALL DEPENDS ${dock_base_files})

# Process the dock erb files
foreach(_erb ${dock_erb_files})
  string(REGEX REPLACE ".sdf.erb" ".sdf" _model ${_erb})
  set(_model ${CMAKE_CURRENT_SOURCE_DIR}/${_model})
  add_custom_command(OUTPUT ${_model}
                     COMMAND ${ERB_EXE_PATH} ${_erb} > ${_model}
                     DEPENDS
                       ${CMAKE_CURRENT_SOURCE_DIR}/${_erb}
                       ${CMAKE_CURRENT_SOURCE_DIR}/dock_generator.erb
                     WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})

  list(APPEND dock_files ${_model})
endforeach()
add_custom_target(dock_erb_generation ALL
  DEPENDS
    ${dock_files}
    dock_base_erb_generation
)

set(XACRO_INORDER)
if(DEFINED ENV{ROS_DISTRO})
  if($ENV{ROS_DISTRO} STREQUAL "noetic")
    set(XACRO_INORDER INORDER)
  endif()
endif()

# Generate world files from xacro and install
xacro_add_files(
  worlds/example_course.world.xacro
  worlds/navigation_task.world.xacro
  worlds/perception_task.world.xacro
  worlds/sandisland.world.xacro
  worlds/dock.world.xacro
  worlds/scan_and_dock.world.xacro
  worlds/stationkeeping_task.world.xacro
  worlds/wayfinding_task.world.xacro
  worlds/wind_test.world.xacro
  worlds/ocean.world.xacro
  ${XACRO_INORDER} INSTALL DESTINATION worlds
)
# Generate obstacle course
add_custom_command(
  OUTPUT ${CMAKE_CURRENT_SOURCE_DIR}/models/robotx_2018_qualifying_avoid_obstacles_buoys/model.sdf
  DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/scripts/generate_avoid_obstacles_buoys
  COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/scripts/generate_avoid_obstacles_buoys --seed 1337 --a3 6 --a5 7 --a7 7 > ${CMAKE_CURRENT_SOURCE_DIR}/models/robotx_2018_qualifying_avoid_obstacles_buoys/model.sdf
)
add_custom_target(${PROJECT_NAME}_generate_obstacle_course_buoys ALL DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/models/robotx_2018_qualifying_avoid_obstacles_buoys/model.sdf)

# Install all the config files
install(DIRECTORY config/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)

# Install all the world files
install(DIRECTORY worlds/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/worlds)

# Install all the model files
install(DIRECTORY models/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/models)

# Install all the launch files
install(DIRECTORY launch/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)

install(DIRECTORY include/
  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.hh"
)

install(PROGRAMS scripts/spawn_wamv.bash
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

if(CATKIN_ENABLE_TESTING)
  find_package(rostest REQUIRED)
  add_rostest_gtest(sandisland_test
                    test/sandisland.test
                    test/sandisland.cc)
  target_link_libraries(sandisland_test ${catkin_LIBRARIES})
endif()

# Python Scripts
catkin_install_python(PROGRAMS
    nodes/twist2thrust.py
    nodes/key2thrust_angle.py
    scripts/generate_worlds
    scripts/generate_wamv
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

6.4 wamv_description

cmake_minimum_required(VERSION 2.8.3)
project(wamv_description)
find_package(catkin REQUIRED COMPONENTS xacro)
catkin_package(CATKIN_DEPENDS xacro)

set(XACRO_INORDER)
if(DEFINED ENV{ROS_DISTRO})
  if($ENV{ROS_DISTRO} STREQUAL "noetic")
    set(XACRO_INORDER INORDER)
  endif()
endif()

xacro_add_files(
  urdf/wamv_base.urdf.xacro
    ${XACRO_INORDER} INSTALL DESTINATION urdf
)

install(DIRECTORY models/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/models)

install(DIRECTORY urdf/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf)

6.5 wamv_gazebo

cmake_minimum_required(VERSION 2.8.3)
project(wamv_gazebo)

# Set policy for CMake 3.1+. Use OLD policy to let FindBoost.cmake, dependency
# of gazebo, use quoted variables in if()
if(POLICY CMP0054)
  cmake_policy(SET CMP0054 NEW)
endif()

find_package(catkin REQUIRED COMPONENTS
  wamv_description
  usv_gazebo_plugins
  xacro
)
catkin_package(
  CATKIN_DEPENDS wamv_description usv_gazebo_plugins xacro
)

set(XACRO_INORDER)
if(DEFINED ENV{ROS_DISTRO})
  if($ENV{ROS_DISTRO} STREQUAL "noetic")
    set(XACRO_INORDER INORDER)
  endif()
endif()

# Generate urdf files from xacro and install
xacro_add_files(
  urdf/wamv_gazebo.urdf.xacro
  ${XACRO_INORDER} INSTALL DESTINATION urdf
)

# Install meshes and textures
install(DIRECTORY models/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/models)

# Install xacro files / macros
install(DIRECTORY urdf/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf)

# Install config files
install(DIRECTORY config/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)

# Install launch files
install(DIRECTORY launch/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)

 6.6  wave_gazebo

cmake_minimum_required(VERSION 2.8.3)
project(wave_gazebo)

# We need erb to process the model erb files.
find_program(ERB_EXE_PATH erb)
if(NOT ERB_EXE_PATH)
  message(FATAL_ERROR "Could not find the `erb` tool.  Try `sudo apt-get install ruby`")
endif()

find_package(catkin REQUIRED COMPONENTS
  xacro
)

catkin_package(
  CATKIN_DEPENDS xacro
)

# Model files to be processed with erb
set (xacro_erb_files
  world_models/ocean_waves/model.xacro.erb
)
# Process the xacro erb files
foreach(_erb ${xacro_erb_files})
  string(REGEX REPLACE ".xacro.erb" ".xacro" _model ${_erb})
  set(_model ${CMAKE_CURRENT_SOURCE_DIR}/${_model})
  add_custom_command(OUTPUT ${_model}
                     COMMAND ${ERB_EXE_PATH} ${_erb} > ${_model}
                     DEPENDS
                       ${CMAKE_CURRENT_SOURCE_DIR}/${_erb}
                     WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})

  list(APPEND model_files ${_model})
endforeach()

install(DIRECTORY world_models/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/world_models)

add_custom_target(model_erb_generation ALL
  DEPENDS
    ${model_files}
)

set(XACRO_INORDER)
if(DEFINED ENV{ROS_DISTRO})
  if($ENV{ROS_DISTRO} STREQUAL "noetic")
    set(XACRO_INORDER INORDER)
  endif()
endif()

# Generate world files from xacro and install
xacro_add_files(
  worlds/ocean.world.xacro
  worlds/ocean_buoys.world.xacro
  worlds/ocean_wamv.world.xacro
  ${XACRO_INORDER} INSTALL DESTINATION worlds
)

 6.7 wave_gazebo_plugins

cmake_minimum_required(VERSION 3.0)
project(wave_gazebo_plugins VERSION 1.0.0)

###############################################################################
# Compile as C++14, supported in ROS Noetic and newer

set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

# Set policy for CMake 3.1+. Use NEW policy to manage version variables
if(POLICY CMP0048)
  cmake_policy(SET CMP0048 NEW)
endif()

###############################################################################
# Other dependencies...

find_package(catkin REQUIRED COMPONENTS gazebo_ros)
find_package(gazebo REQUIRED)
find_package(Eigen3 REQUIRED)

# Find OGRE and include its components (e.g., Paging)
find_package(OGRE 1.9 REQUIRED COMPONENTS Paging)

# 手动设置 Gazebo 路径
set(GAZEBO_INCLUDE_DIRS "/usr/include/gazebo-9" "/usr/include/sdformat-6.3" "/usr/include/ignition/transport4" "/usr/include/ignition/msgs1" "/usr/include/ignition/math4")
set(GAZEBO_LIBRARY_DIRS "/usr/lib/x86_64-linux-gnu/gazebo-9/plugins")

# 添加额外的 OGRE 包含路径，确保找到所需的头文件
list(APPEND OGRE_INCLUDE_DIRS "/usr/include/OGRE")
list(APPEND OGRE_INCLUDE_DIRS "/usr/include/OGRE/Paging")
# # 查找 OGRE 头文件目录
# set(OGRE_ROOT "/usr/include/OGRE")

# # 递归地获取 OGRE 目录下所有子目录
# file(GLOB_RECURSE OGRE_SUBDIRS RELATIVE ${OGRE_ROOT} ${OGRE_ROOT}/*)

# # 初始化包含目录变量
# set(OGRE_INCLUDE_DIRS ${OGRE_ROOT})

# # 将 OGRE 子目录添加到包含目录中
# foreach(SUBDIR ${OGRE_SUBDIRS})
#     if(IS_DIRECTORY "${OGRE_ROOT}/${SUBDIR}")
#         list(APPEND OGRE_INCLUDE_DIRS "${OGRE_ROOT}/${SUBDIR}")
#     endif()
# endforeach()

# # 输出包含目录（可选，供调试用）
# # message(STATUS "OGRE include directories: ${OGRE_INCLUDE_DIRS}")

# # 添加到包含目录中
# include_directories(${OGRE_INCLUDE_DIRS})


############################################################################### 
# Catkin...

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES
    Hydrodynamics
    WavefieldModelPlugin
    WavefieldVisualPlugin
    wavegauge_plugin
  DEPENDS
    gazebo_ros
)

############################################################################### 
# Libraries...

# Hydrodynamics
add_library(Hydrodynamics
  SHARED
    src/Gazebo.cc
    src/Geometry.cc
    src/PhysicalConstants.cc
    src/Physics.cc
    src/Utilities.cc
    src/Wavefield.cc
    src/WavefieldEntity.cc
)

target_include_directories(Hydrodynamics
  PRIVATE
    ${PROJECT_SOURCE_DIR}/include
    ${Boost_INCLUDE_DIRS}
    ${catkin_INCLUDE_DIRS}
    ${EIGEN3_INCLUDE_DIR}
    ${GAZEBO_INCLUDE_DIRS}   # 确保包含 Gazebo 的 include 路径
    ${OGRE_INCLUDE_DIRS}     # 确保包含 OGRE 的额外路径
)

target_link_directories(Hydrodynamics
  PRIVATE
    ${GAZEBO_LIBRARY_DIRS}  # 确保链接 Gazebo 的库路径
)

target_link_libraries(Hydrodynamics
  ${Boost_LIBRARIES}
  ${catkin_LIBRARIES}
  ${GAZEBO_LIBRARIES}
)

target_compile_features(Hydrodynamics PRIVATE cxx_std_14)
target_compile_options(Hydrodynamics PRIVATE "-Wno-unknown-pragmas")

list(APPEND WAVE_GAZEBO_LIBRARIES_LIST Hydrodynamics)

############################################################################### 
# Plugins...

# WavefieldModelPlugin
add_library(WavefieldModelPlugin
  SHARED
    src/WavefieldModelPlugin.cc
)

target_include_directories(WavefieldModelPlugin
  PRIVATE
    ${PROJECT_SOURCE_DIR}/include
    ${Boost_INCLUDE_DIRS}
    ${catkin_INCLUDE_DIRS}
    ${GAZEBO_INCLUDE_DIRS}
    ${OGRE_INCLUDE_DIRS}
)

target_link_directories(WavefieldModelPlugin
  PRIVATE
    ${GAZEBO_LIBRARY_DIRS}
)

target_link_libraries(WavefieldModelPlugin
  ${Boost_LIBRARIES}
  ${catkin_LIBRARIES}
  ${GAZEBO_LIBRARIES}
  ${WAVE_GAZEBO_LIBRARIES_LIST}
)

target_compile_features(WavefieldModelPlugin PRIVATE cxx_std_14)
target_compile_options(WavefieldModelPlugin PRIVATE "-Wno-unknown-pragmas")

list(APPEND WAVE_GAZEBO_PLUGINS_LIST WavefieldModelPlugin)

# WavefieldVisualPlugin
add_library(WavefieldVisualPlugin
  SHARED
    src/WavefieldVisualPlugin.cc
)

target_include_directories(WavefieldVisualPlugin
  PRIVATE
    ${PROJECT_SOURCE_DIR}/include
    ${Boost_INCLUDE_DIRS}
    ${catkin_INCLUDE_DIRS}
    ${GAZEBO_INCLUDE_DIRS}
    ${OGRE_INCLUDE_DIRS}  # 确保包含 OGRE 的 include 路径
)

target_link_directories(WavefieldVisualPlugin
  PRIVATE
    ${GAZEBO_LIBRARY_DIRS}
)

target_link_libraries(WavefieldVisualPlugin
  ${Boost_LIBRARIES}
  ${catkin_LIBRARIES}
  ${GAZEBO_LIBRARIES}
  ${WAVE_GAZEBO_LIBRARIES_LIST}
  ${OGRE_LIBRARIES}  # 确保链接 OGRE 库
)

target_compile_features(WavefieldVisualPlugin PRIVATE cxx_std_14)
target_compile_options(WavefieldVisualPlugin PRIVATE "-Wno-unknown-pragmas")

list(APPEND WAVE_GAZEBO_PLUGINS_LIST WavefieldVisualPlugin)

# WavegaugePlugin
add_library(wavegauge_plugin
  SHARED
    src/wavegauge_plugin.cc
)

target_include_directories(wavegauge_plugin
  PRIVATE
    ${PROJECT_SOURCE_DIR}/include
    ${Boost_INCLUDE_DIRS}
    ${catkin_INCLUDE_DIRS}
    ${GAZEBO_INCLUDE_DIRS}
)

target_link_directories(wavegauge_plugin
  PRIVATE
    ${GAZEBO_LIBRARY_DIRS}
)

target_link_libraries(wavegauge_plugin
  WavefieldModelPlugin
  ${Boost_LIBRARIES}
  ${catkin_LIBRARIES}
  ${GAZEBO_LIBRARIES}
  ${WAVE_GAZEBO_LIBRARIES_LIST}
)

add_dependencies(wavegauge_plugin WavefieldModelPlugin)

target_compile_features(wavegauge_plugin PRIVATE cxx_std_14)
target_compile_options(wavegauge_plugin PRIVATE "-Wno-unknown-pragmas")

list(APPEND WAVE_GAZEBO_PLUGINS_LIST wavegauge_plugin)

############################################################################### 
# Executables...


############################################################################### 
# Tests...

if(CATKIN_ENABLE_TESTING)

  catkin_add_gtest(UNIT_Wavefield_TEST src/Wavefield_TEST.cc)
  target_include_directories(UNIT_Wavefield_TEST
    PRIVATE
      ${PROJECT_SOURCE_DIR}/include
      ${Boost_INCLUDE_DIRS}
      ${catkin_INCLUDE_DIRS}
      ${EIGEN3_INCLUDE_DIR}
      ${GAZEBO_INCLUDE_DIRS}
  )
  target_link_directories(UNIT_Wavefield_TEST
    PRIVATE
      ${GAZEBO_LIBRARY_DIRS}
  )
  target_link_libraries(UNIT_Wavefield_TEST ${WAVE_GAZEBO_LIBRARIES_LIST})
  target_compile_features(UNIT_Wavefield_TEST PRIVATE cxx_std_14)
  target_compile_options(UNIT_Wavefield_TEST PRIVATE "-Wno-unknown-pragmas")

endif()

############################################################################### 
# Install

install(
  TARGETS
    ${WAVE_GAZEBO_LIBRARIES_LIST}
    ${WAVE_GAZEBO_PLUGINS_LIST}
    wavegauge_plugin
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(
  DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.hh"
)

install(
  DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.pb.*"
)
说明：在复制后，对应修改你的路径即可。另外，针对与此配置，可能有些功能包没有用到，所以有个别的CMakeList.txt就没有改到，如果编译时还出现其他报错的话，可以参照前面改错的方法去修改。

参考：无人机与无人船协同初步 · 语雀

感谢GPT！

本文来自互联网用户投稿，该文观点仅代表作者本人，不代表本站立场。本站仅提供信息存储空间服务，不拥有所有权，不承担相关法律责任。如若转载，请注明出处：http://www.mfbz.cn/a/733096.html

如若内容造成侵权/违法违规/事实不符，请联系我们进行投诉反馈qq邮箱809451989@qq.com，一经查实，立即删除！

相关文章

深入分析并可视化城市轨道数据

深入分析并可视化城市轨道数据

介绍 中国城市化进程加速中&#xff0c;城市轨道交通的迅速扩张成为提升城市运行效率和居民生活品质的关键。这一网络从少数大城市延伸至众多大中型城市&#xff0c;映射了经济飞跃和城市管理现代化。深入分析并可视化城市轨道数据&#xff0c;对于揭示网络特性、评估效率、理…
阅读更多...
JavaScript学习笔记（二）

JavaScript学习笔记（二）

12、数字 常规用法和java的用法相似&#xff0c;就不再做详细的记录, JavaScript 数字 以下只记录特殊用法&#xff1a; 12.1 数字字符串运算 在所有数字运算中&#xff0c;JavaScript 会尝试将字符串转换为数字&#xff1a; var x "100"; var y "10"…
阅读更多...
MySQL性能问题诊断方法和常用工具

MySQL性能问题诊断方法和常用工具

作者介绍&#xff1a;老苏&#xff0c;10余年DBA工作运维经验&#xff0c;擅长Oracle、MySQL、PG数据库运维&#xff08;如安装迁移&#xff0c;性能优化、故障应急处理等&#xff09; 公众号&#xff1a;老苏畅谈运维 欢迎关注本人公众号&#xff0c;更多精彩与您分享。MySQL运…
阅读更多...
python入门基础知识（错误和异常）

python入门基础知识（错误和异常）

本文部分内容来自菜鸟教程Python 基础教程 | 菜鸟教程 (runoob.com) 本人负责概括总结代码实现。 以此达到快速复习目的 目录 语法错误 异常 异常处理 try/except try/except...else try-finally 语句 抛出异常 用户自定义异常 内置异常类型 常见的标准异常类型 语法…
阅读更多...
每天写java到期末考试--接口1--基础--6.22

每天写java到期末考试--接口1--基础--6.22

规则&#xff1a; 练习&#xff1a; 抽象类的抽象方法 动物类Animal package 期末复习;public abstract class Animal {private String name;private int age;//1.空构造public Animal(){}public Animal(String name,int age){this.ageage;this.namename;}public String getNa…
阅读更多...
【Java毕业设计】基于JavaWeb的服务出租系统

【Java毕业设计】基于JavaWeb的服务出租系统

本科毕业设计论文 题目&#xff1a;房屋交易平台设计与实现 系 别&#xff1a; XX系&#xff08;全称&#xff09; 专 业&#xff1a; 软件工程 班 级&#xff1a; 软件工程15201 学生姓名&#xff1a; 学生学号&#xff1a; 指导教师&#xff1a; 导师1 导师2 文章目录 摘…
阅读更多...
C++入门 vector部分模拟实现

C++入门 vector部分模拟实现

目录 vector大致框架 vector常见接口模拟实现 begin迭代器 & end迭代器 capacity( ) & size( ) reserve operator[ ] push_back( ) & pop_back( ) sort vector大致框架 vector的内部的成员变量大概有三部分构成&#xff1a; namespace bit {template<c…
阅读更多...
java中的日志

java中的日志

springboot自带slf4j框架和logback&#xff0c;我们可以移除spring的logging&#xff0c;然后再带入自己的日志框架。 <dependency><groupId>org.springframework.boot</groupId><artifactId>spring-boot-starter-web</artifactId><exclusio…
阅读更多...
Linux中tar压缩与解压缩

Linux中tar压缩与解压缩

TAR是Unix/Linux中常用的归档工具&#xff0c;它可以对文件或目录进行打包但不压缩&#xff0c;或者配合其他工具进行压缩。 压缩文件或目录 以下是一些基本的tar压缩命令&#xff1a; 1.压缩单个文件&#xff1a; tar -cvf archive.tar file1 2.压缩多个文件&#xff1a; t…
阅读更多...
毕业季带给我的五个启示

毕业季带给我的五个启示

每到毕业季&#xff0c;校园里总是充满了复杂的情绪。有人欢笑&#xff0c;有人落泪。同样的四年大学生活&#xff0c;为何结局如此不同&#xff1f;本文将从多个角度探讨如何实现综合改变&#xff0c;解释在交友、机会和心态上的关键因素&#xff0c;揭示“慢就是快”的真理。…
阅读更多...
Vulnhub--OS-HACKNOS-2.1

Vulnhub--OS-HACKNOS-2.1

渗透复现 目标站点为wordpress&#xff0c;通过wpscan进行漏洞扫描发现漏洞插件 通过漏洞插件存在的目录穿越漏洞成功读取/etc/passwd文件中flag用户的密码 SSH登录flag用户后在备份文件中找到rohit用户的密码 切换rohit用户&#xff0c;rohit用户能够以root权限执行任何文…
阅读更多...
colima配置docker镜像源

colima配置docker镜像源

只在 colima ssh 环境下修改 docker 配置文件是无效的&#xff0c;我们需要修改 colima 配置文件才能使 docker 镜像源生效。 此时你需要进入到~/.colima/default目录下编辑colima.yaml文件。该文件是 colima 的配置文件。内容如下图所示&#xff0c;我这里配置了许多家的镜像源…
阅读更多...
手写方法实现整型例如：123与字符串例如：“123“相互转化（下篇）

手写方法实现整型例如：123与字符串例如：“123“相互转化（下篇）

目录 一、前言 二、整型转化为字符串 1. 初始化变量 2.数字1转字符1 3.取出value中的每一项数字 4.将字符放入字符数组中 5.最终代码 三、最后 一、前言 本篇文章紧跟上篇文章&#xff0c;本片内容为整型转化为字符串类型。至于我为什么要分两篇文章&#xff0c;主要…
阅读更多...
【2024最新精简版】Kafka面试篇

【2024最新精简版】Kafka面试篇

文章目录 Kafka和RabbitMQ什么区别讲一讲Kafka架构你们项目中哪里用到了Kafka?为什么会选择使用Kafka? 有什么好处 ?使用Kafka如何保证消息不丢失 ?消息的重复消费问题如何解决的 ?Kafka如何保证消费的顺序性 ?Kafka的高可用机制有了解过嘛 ?Kafka实现高性能的设计有了解…
阅读更多...
大数据的发展，带动电子商务产业链，促进了社会的进步【电商数据采集API接口推动电商项目的源动力】

大数据的发展，带动电子商务产业链，促进了社会的进步【电商数据采集API接口推动电商项目的源动力】

最近几年计算机技术在诸多领域得到了有效的应用&#xff0c;同时在多方面深刻影响着我国经济水平的发展。除此之外&#xff0c;人民群众的日常生活水平也受大数据技术的影响。 在这其中电子商务领域也在大数据技术的支持下&#xff0c;得到了明显的进步。虽然电子商务领域的发…
阅读更多...
华为数通题库HCIP-821——最新最全(带答案解析)

华为数通题库HCIP-821——最新最全(带答案解析)

单选11、某台路由器运行IS—IS,其输出信息如图所示&#xff0c;下列说法错误的是? A、邻居路由器的System-ID为0002.0200.2002 B、本路由器是DIS C、本路由器的区域号为49.0001 D、本路由器System-ID为0100.0000.1001 解析&#xff1a;根据输出信…
阅读更多...
go语言day2

go语言day2

使用cmd 中的 go install &#xff1b; go build 命令出现 go cannot find main module 错误怎么解决&#xff1f; go学习-问题记录(开发环境)go: cannot find main module&#xff1b; see ‘go help modules‘_go: no flags specified (see go help mod edit)-CSDN博客 在本…
阅读更多...
Linux系统及常用命令介绍

Linux系统及常用命令介绍

一.介绍 Linux一套免费使用和自由传播的类Unix操作系统&#xff0c;是一个遵循POSIX的多用户、多任务、支持多线程和多CPU的操作系统。Linux系统的说明可以自行百度&#xff0c;知道这几点即可&#xff1a; 1.Linux中一切都是文件&#xff1b; 2.Linux是一款免费操作系统&…
阅读更多...
【for循环】最大跨度

【for循环】最大跨度

【for循环】最大跨度 时间限制: 1000 ms 内存限制: 65536 KB 【题目描述】 【参考代码】 #include <iostream> using namespace std; int main(){ int n;int max 0, min 100;cin>>n;for(int i1; i<n; i1){int a;cin>>a;if(a>max){max a;}i…
阅读更多...
【Mysql】DQL操作单表、创建数据库、排序、聚合函数、分组、limit关键字

【Mysql】DQL操作单表、创建数据库、排序、聚合函数、分组、limit关键字

DQL操作单表 1.1 创建数据库 •创建一个新的数据库 db2 CREATE DATABASE db2 CHARACTER SET utf8;•将db1数据库中的 emp表 复制到当前 db2数据库 ** 1.2 排序** 通过 ORDER BY 子句,可以将查询出的结果进行排序 (排序只是显示效果,不会影响真实数据) 语法结构&#xff1a;…
阅读更多...
最新文章

Copyright @ 2022~2023

友情链接： 我的编程经验分享 一条长河网 尧图网站开发 尧图建网站