碎碎念

最近在配置crazyflie的一个新的工具箱CrazyChoir，资料也太少了，还花时间了解了一下

• webots
• ros2
• webots_ROS2

期间报的一些错在偌大的一个互联网都捞不到的程度，哎…

进入正题

按照官网给的安装教程配置完以后

ubuntu 20.04
ROS2 Foxy
Webots R2022a

运行ros2 launch crazychoir_examples formation_webots.launch.py报错：

[driver-21] Traceback (most recent call last):
[driver-21]   File "/home/yz317/dev_ws/build/crazychoir/crazychoir/utils/__init__.py", line 6, in <module>
[driver-21]     import cffirmware
[driver-21] ModuleNotFoundError: No module named 'cffirmware'

解决办法

查看__init__py里面的sys.path.append('~/dev_ws/crazyflie-firmware/build/cffirmware.py')
于是把这个路径添加到.bashrc文件中

export PYTHONPATH="/home/csu317/dev_ws/crazyflie-firmware/build/:$PYTHONPATH"

问题解决！

但webots里还是有一些warning，不过现在还没有影响使用，就之后再看看咋解决了

WARNING: Floor (PROTO) > Appearance > ImageTexture: Texture image size of '/home/csu317/dev_ws/src/crazychoir/crazychoir/utils/images/casy_logo.png' is not a power of two: rescaling it from 200x200 to 256x256.
WARNING: TexturedBackground (PROTO): Cannot retrieve 'https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/default/worlds/textures/cubic/mountains_back.png': Cannot download https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/default/worlds/textures/cubic/mountains_back.png: 打开https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/default/worlds/textures/cubic/mountains_back.png发生错误
WARNING: TexturedBackground (PROTO): Cannot download leftIrradianceUrl: Cannot download https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/default/worlds/textures/cubic/mountains_back.hdr: 打开https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/default/worlds/textures/cubic/mountains_back.hdr发生错误

参考资料

• 安装教程
  https://opt4smart.github.io/crazychoir/installation
• github
  https://github.com/OPT4SMART/crazychoir/