px4和仿真环境安装完以后，启动没有界面

kwglhm

实在不知道为啥，也查不到哪错了，

eason

虚拟机还是实体机?实体机显卡装了吗?
从你那里看不出来太多报错信息.无法完全定位,提供两种常见的jmavsim仿真遇到问题解决,你可以试试.

打开终端,输入sudo update-alternatives --config java
如果有Java8和Java11,就选择Java8的那个选项数字.
然后进入到~/catkin_ws/Firmware/Tools/jMAVSim/ 文件夹.删掉out文件夹,执行命令 rm -r out
上面解决可能是你Java版本问题的解决方式.

下面这是找不到Assistive的问题解决,从上面看你是Assistive不一致,出现冲突问题,可以试试:
编译accessibility.properties文件
执行命令 sudo gedit /etc/java-8-openjdk/accessibility.properties
打开之后注释掉,前面加#即可,如下所示:
#assistive_technologies=org.GNOME.Acessibility.AtkWrapper

kwglhm

zyq@zyq-Lenovo-Gaming:~/catkin_ws/Firmware$ make px4_sitl_default jmavsim
[0/1] cd /home/zyq/catkin_ws/Firmware/...kin_ws/Firmware/build/px4_sitl_default
SITL ARGS
sitl_bin: /home/zyq/catkin_ws/Firmware/build/px4_sitl_default/bin/px4
debugger: none
program: jmavsim
model: none
src_path: /home/zyq/catkin_ws/Firmware
build_path: /home/zyq/catkin_ws/Firmware/build/px4_sitl_default
empty model, setting iris as default
SITL COMMAND: "/home/zyq/catkin_ws/Firmware/build/px4_sitl_default/bin/px4" "/home/zyq/catkin_ws/Firmware"/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -t "/home/zyq/catkin_ws/Firmware"/test_data
INFO  [px4] Creating symlink /home/zyq/catkin_ws/Firmware/ROMFS/px4fmu_common -> /home/zyq/catkin_ws/Firmware/build/px4_sitl_default/tmp/rootfs/etc
0 WARNING: setRealtimeSched failed (not run as root?)

______  __   __    ___
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
INFO  [param] selected parameter default file eeprom/parameters_10016
[param] parameter file not found, creating eeprom/parameters_10016
  SYS_AUTOCONFIG: curr: 0 -> new: 1
* SYS_AUTOSTART: curr: 0 -> new: 10016
  BAT_N_CELLS: curr: 0 -> new: 3
  CAL_ACC0_ID: curr: 0 -> new: 1311244
  CAL_ACC_PRIME: curr: 0 -> new: 1311244
  CAL_GYRO0_ID: curr: 0 -> new: 2294028
  CAL_GYRO_PRIME: curr: 0 -> new: 2294028
  CAL_MAG0_ID: curr: 0 -> new: 197388
  CAL_MAG_PRIME: curr: 0 -> new: 197388
  CAL_BARO_PRIME: curr: 0 -> new: 6620172
  COM_DISARM_LAND: curr: 2.0000 -> new: 0.1000
  COM_OBL_ACT: curr: 0 -> new: 2
  COM_OF_LOSS_T: curr: 0.0000 -> new: 5.0000
  COM_RC_IN_MODE: curr: 0 -> new: 1
  EKF2_ANGERR_INIT: curr: 0.1000 -> new: 0.0100
  EKF2_GBIAS_INIT: curr: 0.1000 -> new: 0.0100
  EKF2_REQ_GPS_H: curr: 10.0000 -> new: 0.5000
  MC_PITCH_P: curr: 6.5000 -> new: 6.0000
  MC_PITCHRATE_P: curr: 0.1500 -> new: 0.2000
  MC_ROLL_P: curr: 6.5000 -> new: 6.0000
  MC_ROLLRATE_P: curr: 0.1500 -> new: 0.2000
  MPC_HOLD_MAX_Z: curr: 0.6000 -> new: 2.0000
  MPC_Z_VEL_I: curr: 0.1000 -> new: 0.1500
  MPC_Z_VEL_P: curr: 0.2000 -> new: 0.6000
  MPC_XY_P: curr: 0.9500 -> new: 0.8000
  MPC_XY_VEL_P: curr: 0.0900 -> new: 0.2000
  MPC_XY_VEL_D: curr: 0.0100 -> new: 0.0160
  MPC_JERK_MIN: curr: 8.0000 -> new: 10.0000
  MPC_ACC_HOR_MAX: curr: 5.0000 -> new: 3.0000
  NAV_ACC_RAD: curr: 10.0000 -> new: 2.0000
  NAV_DLL_ACT: curr: 0 -> new: 2
  RTL_DESCEND_ALT: curr: 30.0000 -> new: 5.0000
  RTL_LAND_DELAY: curr: -1.0000 -> new: 5.0000
  RTL_RETURN_ALT: curr: 60.0000 -> new: 30.0000
  SDLOG_MODE: curr: 0 -> new: 1
  SDLOG_PROFILE: curr: 3 -> new: 131
  SDLOG_DIRS_MAX: curr: 0 -> new: 7
  SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
  SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
  TRIG_INTERFACE: curr: 4 -> new: 3
* RTL_DESCEND_ALT: curr: 5.0000 -> new: 10.0000
* RTL_LAND_DELAY: curr: 5.0000 -> new: 0.0000
  PWM_MAX: curr: 2000 -> new: 1950
  PWM_MIN: curr: 1000 -> new: 1075
* SYS_AUTOCONFIG: curr: 1 -> new: 0
Buildfile: /home/zyq/catkin_ws/Firmware/Tools/jMAVSim/build.xml
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO  [simulator] Waiting for simulator to connect on TCP port 4560

make_dirs:

compile:

create_run_jar:

copy_res:

BUILD SUCCESSFUL
Total time: 0 seconds
Options parsed, starting Sim.
Starting GUI...
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 14570 remote port 14550
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] Opened full log file: ./log/2019-12-03/05_11_13.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
INFO  [px4] Startup script returned successfully
pxh> 3D [dev] 1.6.0-pre12-daily-experimental daily

WARNING: An illegal reflective access operation has occurred
WARNING: Illegal reflective access by javax.media.j3d.JoglPipeline (rsrc:j3dcore.jar) to method sun.awt.AppContext.getAppContext()
WARNING: Please consider reporting this to the maintainers of javax.media.j3d.JoglPipeline
WARNING: Use --illegal-access=warn to enable warnings of further illegal reflective access operations
WARNING: All illegal access operations will be denied in a future release
Inconsistency detected by ld.so: dl-lookup.c: 111: check_match: Assertion `version->filename == NULL || ! _dl_name_match_p (version->filename, map)' failed!

blueboats

dl-lookup.c: 111 这个文件的111行 是啥东西啊

风帆

eason 发表于 2019-12-5 17:49
虚拟机还是实体机?实体机显卡装了吗?
从你那里看不出来太多报错信息.无法完全定位,提供两种常见的jmavsim仿 ...

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