Known Issues

Issue 1: ROS Dependencies in Ubuntu20.04

Solution: In Ubuntu 20.04 there is no python-vcstool to install. It needs to be python3-vcstool.

Issue 2: OpenCV 4.2

The current version of OpenCV is 4.2. In the flightmare/flightlib/src/bridges/unity_bridge.cpp file, line 237 the call to cvtColor gives a compile-time error because CV_RGB2BGR is not defined in OpenCV 4.2.

Solution: According to https://docs.opencv.org/4.2.0/d8/d01/group__imgproc__color__conversions.html it needs to be cv::COLOR_RGB2BGR.

Issue 3: Python Syntax Error in rotors_simulator

Solution: In line 53 of the file rotors_simulator/rotors_evaluation/src/rosbag_tools/analyze_bag.py the python syntax except Exception, e is not recognized when building the package. It works if the line is changed to except Exception as e

Issue 4: OpenMP linking error in flightros

Errors << flightros:make /home/bfd/catkin_ws/logs/flightros/build.make.000.log /usr/bin/ld: /home/bfd/catkin_ws/install/lib/libflightlib.so: undefined reference to 'omp_set_num_threads' collect2: error: ld returned 1 exit status make[2]: *** [CMakeFiles/flight_pilot_node.dir/build.make:181: /home/bfd/catkin_ws/devel/.private/flightros/lib/flightros/flight_pilot_node] Error 1 make[1]: *** [CMakeFiles/Makefile2:241: CMakeFiles/flight_pilot_node.dir/all] Error 2 make: *** [Makefile:141: all] Error 2

Solution: It seems to like the -fopenmp flag is missing in the flightmare/flightros/CMakeLists.txt. Adding a -fopenmp flag to line 29 resolved the issue and catkin build runs without any errors.