CrazyflieのROSパッケージをインストールしました。単純なスクリプトを実行したいのですが、Sudo python3 execute_trajectory.py
、rospyという名前のモジュールがないというエラーが表示されます。
これはパッケージです https://github.com/whoenig/crazyflie_ros で、ファイルはcrazyflie_demo/scriptsにあります。また、Ubuntu 16.04とROS Kinectを使用していて、ROSなしでPython3スクリプトを実行しようとしましたが、すべてうまくいきます。
これは私のCMakeLists.txtです
cmake_minimum_required(VERSION 2.8.3)
project(crazyflie_demo)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependencies might have been
## pulled in transitively but can be declared for certainty nonetheless:
## * add a build_depend tag for "message_generation"
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES crazyflie_demo
CATKIN_DEPENDS roscpp
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
${catkin_INCLUDE_DIRS}
)
## Declare a cpp library
# add_library(crazyflie_demo
# src/${PROJECT_NAME}/crazyflie_demo.cpp
# )
# Declare a cpp executable
add_executable(quadrotor_teleop src/quadrotor_teleop.cpp)
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(crazyflie_demo_node crazyflie_demo_generate_messages_cpp)
# Specify libraries to link a library or executable target against
target_link_libraries(quadrotor_teleop
${catkin_LIBRARIES}
)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS crazyflie_demo crazyflie_demo_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_crazyflie_demo.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
助言がありますか?
ありがとうございました
ROS Pythonバージョンは2.7であるため、python3
からは使用しないでください。したがって、次のメソッドを使用してros-nodeファイルを実行します。
rosrun <package-name> <node-name>
Python2.7の代わりにpython3を使用するようにROSキネティックを定義 Link
インストールセクションの crazyfile_ros readmeを読むことをお勧めします。
パッケージをcatkinワークスペースに複製します。
git clone https://github.com/whoenig/crazyflie_ros.git cd crazyflie_ros git submodule init git submodule update
ワークスペースで
catkin_make
を使用してコンパイルします。
rosrun crazyfile_demo execute_trajectory.py
または、creazyfile_demoパッケージの対応するlaunchfile
を使用します。
[[〜#〜]ノート[〜#〜]]:
.py
ファイルが実行可能であることを確認してください(chmod +x execute_trajectory.py
)