开源项目

kai'yuan'xiang'mkmonemati/PX4-ROS2-Gazebo-YOLOv8: Aerial Object Detection using a Drone with PX4 Autopilot and ROS 2. PX4 SITL and Gazebo Garden used for Simulation. YOLOv8 used for Object Detection. (github.com)

 首先创建python虚拟环境，克隆项目；

编译的时候，发现各种依赖没有，先按照ROS 2 User Guide | PX4 User Guide (main)执行了：

bash ./PX4-Autopilot/Tools/setup/ubuntu.sh

 安装了一部分依赖

然后：

source /opt/ros/humble/setup.bash

编译仍然报错：

AttributeError: 'NoneType' object has no attribute 'shutdown'

AttributeError: module 'em' has no attribute 'BUFFERED_OPT'

cmake 时 ros2有关库报错：module ‘em‘ has no attribute ‘BUFFERED_OPT‘_attributeerror: module 'em' has no attribute 'buff-CSDN博客

依据上面博客更新了empty的版本，解决了；