conda环境下四足rl_sar调试问题解决

问题一：build失败（conda环境的问题！）

最好不要在有conda环境的系统编译，开启新的ubuntu环境

工作空间的问题

Starting >>> catkin_tools_prebuild _______________________________________________________________________________ Errors << catkin_tools_prebuild:cmake rl_sar/logs/catkin_tools_prebuild/build.cmake.000.log CMake Warning (dev) at /opt/ros/noetic/share/catkin/cmake/python.cmake:4 (find_package): Policy CMP0148 is not set: The FindPythonInterp and FindPythonLibs modules are removed. Run "cmake --help-policy CMP0148" for policy details. Use the cmake_policy command to set the policy and suppress this warning.

Failed << catkin_tools_prebuild:cmake [ Exited with code 1 ] Failed <<< catkin_tools_prebuild [ 0.5 seconds ] Abandoned <<< a1_description [ Unrelated job failed ] Abandoned <<< b2_description [ Unrelated job failed ] Abandoned <<< b2w_description [ Unrelated job failed ] Abandoned <<< g1_description [ Unrelated job failed ] Abandoned <<< go2_description [ Unrelated job failed ] Abandoned <<< go2w_description [ Unrelated job failed ] Abandoned <<< gr1t1_description [ Unrelated job failed ] Abandoned <<< gr1t2_description [ Unrelated job failed ] Abandoned <<< l4w4_description [ Unrelated job failed ] Abandoned <<< robot_msgs [ Unrelated job failed ] Abandoned <<< robot_joint_controller [ Unrelated job failed ] Abandoned <<< rl_sar [ Unrelated job failed ] [build] Summary: 0 of 13 packages succeeded. [build] Ignored: None. [build] Warnings: None. [build] Abandoned: 12 packages were abandoned. [build] Failed: 1 packages failed. [build] Runtime: 0.5 seconds total.

出现最后抓脑的问题

安装包名字一样，导致识别错误

options={em.RAW_OPT:True,em.BUFFERED_OPT:True}) ^^^^^^^^^^ AttributeError: module 'em' has no attribute 'RAW_OPT' make[2]: ***

[ 75%] Built target observation_buffer make: *** [Makefile:141：all] 错误 2 Invoking "make -j20 -l20" failed

版本不兼容！！！！

请一定要多尝试更换不同的版本！！！

软件包位置识别错误

什么东西阿

解决方法

解决方法

CmakeLists.txt文件添加路径寻找

set(controller_manager_DIR /opt/ros/noetic/share/controller_manager) find_package(controller_manager REQUIRED)

头文件问题

不知道是不是虚拟环境的问题

解决方法：

只是带来另外一个错误

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解决不掉只能重新来过

离谱！！11昨天搞了一下午，关机重启一下好了

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修改问题

set(controller_manager_DIR /opt/ros/noetic/share/controller_manager/cmake) set(genmsg_DIR /opt/ros/noetic/share/genmsg/cmake) set(joint_state_controller_DIR /opt/ros/noetic/share/joint_state_controller/cmake) set(robot_state_publisher_DIR /opt/ros/noetic/share/robot_state_publisher/cmake) set(roscpp_DIR /opt/ros/noetic/share/roscpp/cmake) set(gazebo_ros_DIR /opt/ros/noetic/share/gazebo_ros/cmake) set(std_msgs_DIR /opt/ros/noetic/share/std_msgs/cmake) set(tf_DIR /opt/ros/noetic/share/tf/cmake) set(geometry_msgs_DIR /opt/ros/noetic/share/geometry_msgs/cmake) set(robot_msgs_DIR /opt/ros/noetic/share/robot_msgs/cmake) set(robot_joint_controller_DIR /opt/ros/noetic/share/robot_joint_controller/cmake) set(rospy_DIR /opt/ros/noetic/share/rospy/cmake) # 分别查找每个包 find_package(controller_manager REQUIRED) find_package(genmsg REQUIRED) find_package(joint_state_controller REQUIRED) find_package(robot_state_publisher REQUIRED) find_package(roscpp REQUIRED) find_package(gazebo_ros REQUIRED) find_package(std_msgs REQUIRED) find_package(tf REQUIRED) find_package(geometry_msgs REQUIRED) find_package(robot_msgs REQUIRED) find_package(robot_joint_controller REQUIRED) find_package(rospy REQUIRED) list(APPEND CMAKE_PREFIX_PATH "~/catkin_ws_rl_sar/libtorch/libtorch/share/cmake/Torch")

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重新换一台新的ubuntu系统，build过程顺利完成

问题二 启动问题

段错误（核心转储）

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这是在RTX1650笔记本新开启的ubuntu系统，不知道是不是电脑性能的问题

还有出现一个警告：不知道有没有关系

urdf模型加载问题

初始状态应当趴下

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这竟然是对的

问题解决

1、退出conda环境

conda deactivate

2、杀死所有节点

rosnode kill -a pkill -f ros pkill -f gazebo

3、运行launch文件

roslaunch rl_sar gazebo_a1.launch cfg:=legged_gym

4、开启新终端

rosrun rl_sar rl_sim

回车开启仿真

键盘或者手柄控制

2026重新配置

问题一：编译过程失败

将细节问题定位，将下面真机d1的版本太高删除后编译成功ing！

# executable for rl real d1 if(SYSTEM_TYPE STREQUAL "Linux") add_executable(rl_real_d1 src/rl_real_d1.cpp) target_link_libraries(rl_real_d1 ${AGIBOT_D1_LIBS} rl_sdk observation_buffer ${YAML_CPP_LIBRARIES} ) # Add D1 SDK library path to RPATH set_target_properties(rl_real_d1 PROPERTIES INSTALL_RPATH "${CMAKE_INSTALL_RPATH};${CMAKE_CURRENT_SOURCE_DIR}/library/thirdparty/robot_sdk/agibot/agibot_D1_Edu-Ultra/lib/zsl-1/${ARCH_DIR}" ) if(NOT USE_CMAKE) if($ENV{ROS_DISTRO} MATCHES "noetic") target_link_libraries(rl_real_d1 ${catkin_LIBRARIES}) elseif($ENV{ROS_DISTRO} MATCHES "foxy|humble") ament_target_dependencies(rl_real_d1 rclcpp geometry_msgs ) install(TARGETS rl_real_d1 DESTINATION lib/${PROJECT_NAME}) endif() endif() endif()

但在运行rosrun rl_sim的时候出现段错误

未解决