rcSが見つからない¶

症状¶

以下のようにLaunchファイルを起動すると、

roslaunch px4 posix_sitl.launch

以下のようなエラーが出る。

... logging to /home/uavteam/.ros/log/d9295a54-e8ad-11e8-ae34-40a3cc692f9e/roslaunch-rd-precision5520-8601.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://rd-precision5520:34685/

SUMMARY
========

PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /use_sim_time: True

NODES
/
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    sitl (px4/px4)
    vehicle_spawn_rd_precision5520_8601_1964229074022197941 (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [8611]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to d9295a54-e8ad-11e8-ae34-40a3cc692f9e
process[rosout-1]: started with pid [8624]
started core service [/rosout]
process[sitl-2]: started with pid [8648]
INFO  [Unknown] Creating symlink /home/uavteam/src/Firmware/ROMFS/px4fmu_common -> /home/uavteam/.ros/etc
ERROR [Unknown] Error opening startup file, does not exist: etc/init.d-posix/rcS
process[gazebo-3]: started with pid [8649]
process[gazebo_gui-4]: started with pid [8654]
process[vehicle_spawn_rd_precision5520_8601_1964229074022197941-5]: started with pid [8659]
================================================================================REQUIRED process [sitl-2] has died!
process has died [pid 8648, exit code 255, cmd /home/uavteam/src/Firmware/build/posix_sitl_default/bin/px4 /home/uavteam/src/Firmware/ROMFS/px4fmu_common -s etc/init.d-posix/rcS __name:=sitl __log:=/home/uavteam/.ros/log/d9295a54-e8ad-11e8-ae34-40a3cc692f9e/sitl-2.log].
log file: /home/uavteam/.ros/log/d9295a54-e8ad-11e8-ae34-40a3cc692f9e/sitl-2*.log
Initiating shutdown!
================================================================================
[vehicle_spawn_rd_precision5520_8601_1964229074022197941-5] killing on exit
[gazebo_gui-4] killing on exit
Traceback (most recent call last):
File "/home/uavteam/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model", line 32, in <module>
    import tf.transformations as tft
File "/opt/ros/kinetic/lib/python2.7/dist-packages/tf/__init__.py", line 28, in <module>
[gazebo-3] killing on exit
[sitl-2] killing on exit
    from tf2_ros import TransformException as Exception, ConnectivityException, LookupException, ExtrapolationException
File "/opt/ros/kinetic/lib/python2.7/dist-packages/tf2_ros/__init__.py", line 39, in <module>
    from .buffer_interface import *
File "/opt/ros/kinetic/lib/python2.7/dist-packages/tf2_ros/buffer_interface.py", line 32, in <module>
    import roslib; roslib.load_manifest('tf2_ros')
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslib/launcher.py", line 62, in load_manifest
    sys.path = _generate_python_path(package_name, _rospack) + sys.path
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslib/launcher.py", line 93, in _generate_python_path
    m = rospack.get_manifest(pkg)
File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 167, in get_manifest
    return self._load_manifest(name)
File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 211, in _load_manifest
    retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name, rospack=self)
File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 201, in get_path
    self._update_location_cache()
File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 184, in _update_location_cache
    list_by_path(self._manifest_name, path, cache)
File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 68, in list_by_path
    is_metapackage = root.find('./export/metapackage') is not None
KeyboardInterrupt
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

もしかして¶

~/.ros/etc/init.d-posix 以下にrcSというファイルがありますか？

PX4 SITLシミュレーションでは最初にスタートアップスクリプト（ ~/.ros/etc/init.d-posix ）がロードされます。普通はセットアップの際に自動で ~/src/Firmware/ROMFS/px4fmu_common から ~/.ros/etc へのシンボリックリンクが作成されますが、何らかの理由で作成されなかったのだと考えられます。

以下のコマンドを使って``~/src/Firmware/ROMFS/px4fmu_common`` から ~/.ros/etc へのシンボリックリンクを作成しましょう。

ln -s ~/src/Firmware/ROMFS/px4fmu_common ~/.ros/etc