hzx@hzx:~/project/some/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: 9.17
-- Configuring done
-- Generating done
-- Build files have been written to: /home/hzx/project/some/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/hzx/project/some/Firmware/build/px4_sitl_default/build_gazebo && /usr/bin/cmake --build . && /usr/bin/cmake -E touch /home/hzx/project/some/Firmware/build/px4_sitl_default/external/Stamp/sitl_gazebo/sitl_gazebo-build
[1/3] Linking CXX shared library libgazebo_geotagged_images_plugin.so
[2/3] Building CXX object CMakeFiles/gazebo_opticalflow_plugin.dir/src/gazebo_opticalflow_plugin.cpp.o
FAILED: CMakeFiles/gazebo_opticalflow_plugin.dir/src/gazebo_opticalflow_plugin.cpp.o 
/usr/bin/c++  -DLIBBULLET_VERSION=2.87 -DLIBBULLET_VERSION_GT_282 -Dgazebo_opticalflow_plugin_EXPORTS -isystem /usr/include/gazebo-9 -isystem /usr/include/bullet -isystem /usr/include/simbody -isystem /usr/include/sdformat-6.2 -isystem /usr/include/ignition/math4 -isystem /usr/include/OGRE -isystem /usr/include/OGRE/Terrain -isystem /usr/include/OGRE/Paging -isystem /usr/include/ignition/transport4 -isystem /usr/include/ignition/msgs1 -isystem /usr/include/ignition/common1 -isystem /usr/include/ignition/fuel_tools1 -I/home/hzx/project/some/Firmware/Tools/sitl_gazebo/include -I. -I/usr/include/eigen3 -I/usr/include/eigen3/eigen3 -I/usr/include/gazebo-9/gazebo/msgs -I/home/hzx/project/some/Firmware/mavlink/include -I/usr/include/Paging -isystem /usr/include/opencv -I/home/hzx/project/some/Firmware/Tools/sitl_gazebo/external/OpticalFlow/include -isystem /usr/include/uuid -isystem /usr/include/x86_64-linux-gnu -I/home/hzx/project/some/Firmware/Tools/sitl_gazebo/external/OpticalFlow/external/klt_feature_tracker/include -Wno-deprecated-declarations -fPIC   -I/usr/include/uuid -I/usr/include/x86_64-linux-gnu -std=gnu++1z -MD -MT CMakeFiles/gazebo_opticalflow_plugin.dir/src/gazebo_opticalflow_plugin.cpp.o -MF CMakeFiles/gazebo_opticalflow_plugin.dir/src/gazebo_opticalflow_plugin.cpp.o.d -o CMakeFiles/gazebo_opticalflow_plugin.dir/src/gazebo_opticalflow_plugin.cpp.o -c /home/hzx/project/some/Firmware/Tools/sitl_gazebo/src/gazebo_opticalflow_plugin.cpp
In file included from /home/hzx/project/some/Firmware/Tools/sitl_gazebo/src/gazebo_opticalflow_plugin.cpp:24:0:
/home/hzx/project/some/Firmware/Tools/sitl_gazebo/src/gazebo_opticalflow_plugin.cpp: In member function ‘virtual void gazebo::OpticalFlowPlugin::Load(gazebo::sensors::SensorPtr, sdf::ElementPtr)’:
/home/hzx/project/some/Firmware/Tools/sitl_gazebo/include/gazebo_opticalflow_plugin.h:43:18: error: ‘TRUE’ was not declared in this scope
 #define HAS_GYRO TRUE
                  ^
/home/hzx/project/some/Firmware/Tools/sitl_gazebo/include/gazebo_opticalflow_plugin.h:43:18: note: in definition of macro ‘HAS_GYRO’
 #define HAS_GYRO TRUE
                  ^~~~
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