您好 很感谢您的回复，我更新了

guo@guoPC:~/PX4/Firmware$ git submodule update --init --recursive

guo@guoPC:~/PX4/Firmware$ git submodule update --init --recursive

执行 git submodule update --init --recursive 已经没有反应了。但是make px4_sitl_default 没有报错，如下

guo@guoPC:~/PX4/Firmware$ make px4_sitl_default

-- PX4 config file: /home/guo/PX4/Firmware/boards/px4/sitl/default.cmake

-- PX4 config: px4_sitl_default

-- PX4 platform: posix

-- PX4 lockstep: enabled

-- PX4 version: v1.9.2

-- cmake build type: RelWithDebInfo

-- The CXX compiler identification is GNU 7.5.0

-- The C compiler identification is GNU 7.5.0

-- The ASM compiler identification is GNU

-- Found assembler: /usr/bin/cc

-- Check for working CXX compiler: /usr/bin/c++

-- Check for working CXX compiler: /usr/bin/c++ -- works

-- Detecting CXX compiler ABI info

-- Detecting CXX compiler ABI info - done

-- Detecting CXX compile features

-- Detecting CXX compile features - done

-- Check for working C compiler: /usr/bin/cc

-- Check for working C compiler: /usr/bin/cc -- works

-- Detecting C compiler ABI info

-- Detecting C compiler ABI info - done

-- Detecting C compile features

-- Detecting C compile features - done

-- ccache enabled (export CCACHE_DISABLE=1 to disable)

-- Found PythonInterp: /usr/bin/python (found version "2.7.17")

-- Found PY_jinja2: /home/guo/.local/lib/python2.7/site-packages/jinja2

-- PX4 ECL: Very lightweight Estimation & Control Library v1.9.0-rc1

-- Configuring done

-- Generating done

-- Build files have been written to: /home/guo/PX4/Firmware/build/px4_sitl_default

[15/668] git submodule src/lib/ecl

[183/668] git submodule src/drivers/gps/devices

[186/668] git submodule mavlink/include/mavlink/v2.0

[668/668] Linking CXX shared library s...s/dyn_hello/examples__dyn_hello.px4mod

执行make px4_sitl_default gazebo

guo@guoPC:~/PX4/Firmware$ make px4_sitl_default gazebo

[3/7] Performing configure step for 'sitl_gazebo'

-- install-prefix: /usr/local

-- Using C++17 compiler

-- Boost version: 1.65.1

-- Found the following Boost libraries:

--   system

--   thread

--   filesystem

--   chrono

--   date_time

--   atomic

-- Boost version: 1.65.1

-- Found the following Boost libraries:

--   thread

--   system

--   filesystem

--   program_options

--   regex

--   iostreams

--   date_time

--   chrono

--   atomic

-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found version "3.0.0")

-- Boost version: 1.65.1

-- Looking for OGRE...

-- Found Ogre Ghadamon (1.9.0)

-- Looking for OGRE_Paging...

-- Found OGRE_Paging: optimized;/usr/lib/x86_64-linux-gnu/libOgrePaging.so;debug;/usr/lib/x86_64-linux-gnu/libOgrePaging.so

-- Looking for OGRE_Terrain...

-- Found OGRE_Terrain: optimized;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so

-- Looking for OGRE_Property...

-- Found OGRE_Property: optimized;/usr/lib/x86_64-linux-gnu/libOgreProperty.so;debug;/usr/lib/x86_64-linux-gnu/libOgreProperty.so

-- Looking for OGRE_RTShaderSystem...

-- Found OGRE_RTShaderSystem: optimized;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so

-- Looking for OGRE_Volume...

-- Found OGRE_Volume: optimized;/usr/lib/x86_64-linux-gnu/libOgreVolume.so;debug;/usr/lib/x86_64-linux-gnu/libOgreVolume.so

-- Looking for OGRE_Overlay...

-- Found OGRE_Overlay: optimized;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so

-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread;-lpthread (found suitable version "3.0.0", minimum required is "2.3.0")

-- Config-file not installed for ZeroMQ -- checking for pkg-config

-- Checking for module 'libzmq >= 4'

--   Found libzmq , version 4.2.5

-- Checking for module 'uuid'

--   Found uuid, version 2.31.1

-- Checking for module 'tinyxml2'

--   Found tinyxml2, version 6.0.0

-- Looking for dlfcn.h - found

-- Looking for libdl - found

-- FreeImage.pc not found, we will search for FreeImage_INCLUDE_DIRS and FreeImage_LIBRARIES

-- Checking for module 'gts'

--   Found gts, version 0.7.6

-- Checking for module 'libswscale'

--   Found libswscale, version 4.8.100

-- Checking for module 'libavdevice >= 56.4.100'

--   Found libavdevice , version 57.10.100

-- Checking for module 'libavformat'

--   Found libavformat, version 57.83.100

-- Checking for module 'libavcodec'

--   Found libavcodec, version 57.107.100

-- Checking for module 'libavutil'

--   Found libavutil, version 55.78.100

-- Checking for module 'jsoncpp'

--   Found jsoncpp, version 1.7.4

-- Checking for module 'yaml-0.1'

--   Found yaml-0.1, version 0.1.7

-- Checking for module 'libzip'

--   Found libzip, version 1.1.2

-- Building klt_feature_tracker without catkin

-- Building OpticalFlow with OpenCV

-- catkin DISABLED

-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread;-lpthread;-lpthread (found version "3.0.0")

Gazebo version: 9.14

-- Configuring done

-- Generating done

-- Build files have been written to: /home/guo/PX4/Firmware/build/px4_sitl_default/build_gazebo

[4/7] Performing build step for 'sitl_gazebo'

FAILED: external/Stamp/sitl_gazebo/sitl_gazebo-build

cd /home/guo/PX4/Firmware/build/px4_sitl_default/build_gazebo && /usr/bin/cmake --build . && /usr/bin/cmake -E touch /home/guo/PX4/Firmware/build/px4_sitl_default/external/Stamp/sitl_gazebo/sitl_gazebo-build

[1/79] Running C++ protocol buffer compiler on msgs/SITLGps.proto

[2/79] Generating /home/guo/PX4/Firmware/Tools/sitl_gazebo/models/iris/iris.sdf

FAILED: /home/guo/PX4/Firmware/Tools/sitl_gazebo/models/iris/iris.sdf

cd /home/guo/PX4/Firmware/Tools/sitl_gazebo && rm -f /home/guo/PX4/Firmware/Tools/sitl_gazebo/models/iris/iris.sdf && /usr/bin/python /home/guo/PX4/Firmware/Tools/sitl_gazebo/scripts/xacro.py -o /home/guo/PX4/Firmware/Tools/sitl_gazebo/models/rotors_description/urdf/iris_base.urdf /home/guo/PX4/Firmware/Tools/sitl_gazebo/models/rotors_description/urdf/iris_base.xacro enable_mavlink_interface:=true enable_ground_truth:=false enable_wind:=false enable_logging:=false rotors_description_dir:=/home/guo/PX4/Firmware/Tools/sitl_gazebo/models/rotors_description send_vision_estimation:=true send_odometry:=false && gz sdf -p /home/guo/PX4/Firmware/Tools/sitl_gazebo/models/rotors_description/urdf/iris_base.urdf >> /home/guo/PX4/Firmware/Tools/sitl_gazebo/models/iris/iris.sdf && rm -f /home/guo/PX4/Firmware/Tools/sitl_gazebo/models/rotors_description/urdf/iris_base.urdf

gz: symbol lookup error: /usr/lib/x86_64-linux-gnu/libgazebo_common.so.9: undefined symbol: _ZN8ignition10fuel_tools12ClientConfig12SetUserAgentERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE

[3/79] Building CXX object CMakeFiles/std_msgs.dir/Int32.pb.cc.o

ninja: build stopped: subcommand failed.

ninja: build stopped: subcommand failed.

Makefile:193: recipe for target 'px4_sitl_default' failed

make: *** [px4_sitl_default] Error 1