M1 Mac Anaconda ROS环境下Ardupilot-Gazebo编译报错求助

使用搭载M1芯片的Mac OS系统，通过Anaconda创建ROS环境，ROS安装时自动附带Gazebo，无需单独安装。已成功运行SITL并与QGroundControl自动连接，现在要连接Gazebo与SITL，安装ardupilot_gazebo插件后执行以下步骤无问题：

cd ardupilot_gazebo
mkdir build && cd build

但执行cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo时出现错误：

CMake Error at CMakeLists.txt:19 (find_package):
  By not providing "Findgz-cmake3.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "gz-cmake3", but CMake did not find one.

  Could not find a package configuration file provided by "gz-cmake3" with
  any of the following names:

    gz-cmake3Config.cmake
    gz-cmake3-config.cmake

  Add the installation prefix of "gz-cmake3" to CMAKE_PREFIX_PATH or set
  "gz-cmake3_DIR" to a directory containing one of the above files. If
  "gz-cmake3" provides a separate development package or SDK, be sure it has
  been installed.

在ROS环境中输入gazebo可正常启动Gazebo，但执行gz sim -v4 -r shapes.sdf提示“Invalid arguments”，怀疑是ROS附带的Gazebo导致CMake无法识别，寻求解决办法。

• 明确版本差异
  ROS附带的是Gazebo Classic（旧版，如Gazebo 11），而当前ardupilot_gazebo默认依赖新版Gazebo（Gazebo Sim，原Ignition Gazebo），两者命令、依赖库完全独立：

  • Gazebo Classic用gazebo命令启动
  • 新版Gazebo Sim用gz sim系列命令

• 适配ROS自带的Gazebo Classic
  如果不想额外安装新版Gazebo，切换ardupilot_gazebo到兼容旧版的分支：

  cd ardupilot_gazebo
  git checkout gazebo-classic
  rm -rf build && mkdir build && cd build
  cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
  make -j4
  

  编译完成后，添加环境变量让Gazebo识别插件：

  # 临时生效，可添加到~/.zshrc或~/.bashrc永久生效
  export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/你的ardupilot_gazebo路径/build
  export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/你的ardupilot_gazebo路径/models
  

• 安装新版Gazebo Sim解决依赖
  如果要使用新版Gazebo，通过Homebrew独立安装（避免和ROS版本冲突）：

  brew install gz-sim7 gz-cmake3
  

  编译时指定新版Gazebo的配置路径，让CMake找到gz-cmake3：

  cd ardupilot_gazebo/build
  cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo -Dgz-cmake3_DIR=$(brew --prefix gz-cmake3)/share/gz-cmake3/cmake
  make -j4
  

  启动时优先加载Homebrew的Gazebo路径，避免ROS版本干扰：

  export PATH=$(brew --prefix gz-sim7)/bin:$PATH
  gz sim -v4 -r shapes.sdf
  

• 隔离Anaconda环境干扰
  如果Anaconda的环境变量影响系统库查找，编译前临时屏蔽：

  # 临时移除Anaconda相关路径
  export PATH=$(echo $PATH | tr ':' '\n' | grep -v anaconda | tr '\n' ':')
  export CMAKE_PREFIX_PATH=$(echo $CMAKE_PREFIX_PATH | tr ':' '\n' | grep -v anaconda | tr '\n' ':')
  

  编译完成后可重启终端恢复环境变量。

内容的提问来源于stack exchange，提问作者Halit Şen