创新的龙岗网站建设,dw做游戏网站代码,做企业网站首页尺寸,广西手机响应式网站建设公司Linux系统ubuntu20.04 无人机PX4 开发环境搭建 PX4固件下载开发环境搭建MAVROS安装安装地面站QGC PX4固件下载
PX4的源码处于GitHub#xff0c;因为众所周知的原因git clone经常失败#xff0c;此处从Gitee获取PX4源码和依赖模块。
git clone https://gitee.com/voima/PX4-… Linux系统ubuntu20.04 无人机PX4 开发环境搭建 PX4固件下载开发环境搭建MAVROS安装安装地面站QGC PX4固件下载
PX4的源码处于GitHub因为众所周知的原因git clone经常失败此处从Gitee获取PX4源码和依赖模块。
git clone https://gitee.com/voima/PX4-Autopilot.git正克隆到 ‘PX4-Autopilot’… remote: Enumerating objects: 454209, done. remote: Total 454209 (delta 0), reused 0 (delta 0), pack-reused 454209 接收对象中: 100% (454209/454209), 215.48 MiB | 2.32 MiB/s, 完成. 处理 delta 中: 100% (334699/334699), 完成. 使用cd命令切换到 px4项目文件目录
cd ~/PX4-Autopilot使用以下命令切换版本以V1.14.0为例
git checkout v1.14.0 #切换到1.14.0分支当然也可以尝试其他版本因为PX4的完整项目是嵌套子模块存储的以上命令只下载了px4的基本代码所以我们要进行子模块的下载运行下列命令 git submodule update --init --recursive # 在~/PX4-Autopilot目录下执行以上命令中submodule是子模块的意思 --init 选项会初始化并注册子模块的地址–recursive选项会递归克隆子模块。
此更新的链接来源于~/PX4-Autopilot/.gitmodules(注意是隐藏文件)
将文件打开粘贴到下面可以看到里面都github的地址直接用上面的命令会很难成功
[submodule src/modules/mavlink/mavlink]path src/modules/mavlink/mavlinkurl https://github.com/mavlink/mavlink.gitbranch master
[submodule src/drivers/uavcan/libuavcan]path src/drivers/uavcan/libuavcanurl https://github.com/dronecan/libuavcan.gitbranch main
[submodule Tools/simulation/jmavsim/jMAVSim]path Tools/simulation/jmavsim/jMAVSimurl https://github.com/PX4/jMAVSim.gitbranch main
[submodule Tools/simulation/gazebo-classic/sitl_gazebo-classic]path Tools/simulation/gazebo-classic/sitl_gazebo-classicurl https://github.com/PX4/PX4-SITL_gazebo-classic.gitbranch main
[submodule src/drivers/gps/devices]path src/drivers/gps/devicesurl https://github.com/PX4/PX4-GPSDrivers.gitbranch main
[submodule platforms/nuttx/NuttX/nuttx]path platforms/nuttx/NuttX/nuttxurl https://github.com/PX4/NuttX.gitbranch px4_firmware_nuttx-10.3.0-v1.14
[submodule platforms/nuttx/NuttX/apps]path platforms/nuttx/NuttX/appsurl https://github.com/PX4/NuttX-apps.gitbranch px4_firmware_nuttx-10.3.0
[submodule Tools/flightgear_bridge]path Tools/simulation/flightgear/flightgear_bridgeurl https://github.com/PX4/PX4-FlightGear-Bridge.git
[submodule Tools/simulation/jsbsim/jsbsim_bridge]path Tools/simulation/jsbsim/jsbsim_bridgeurl https://github.com/PX4/px4-jsbsim-bridge.git
[submodule src/drivers/cyphal/libcanard]path src/drivers/cyphal/libcanardurl https://github.com/opencyphal/libcanard.git
[submodule src/drivers/cyphal/public_regulated_data_types]path src/drivers/cyphal/public_regulated_data_typesurl https://github.com/opencyphal/public_regulated_data_types.git
[submodule src/drivers/cyphal/legacy_data_types]path src/drivers/cyphal/legacy_data_typesurl https://github.com/PX4/public_regulated_data_types.gitbranch legacy
[submodule src/lib/crypto/monocypher]path src/lib/crypto/monocypherurl https://github.com/PX4/Monocypher.gitbranch px4
[submodule src/lib/events/libevents]path src/lib/events/libeventsurl https://github.com/mavlink/libevents.gitbranch main
[submodule src/lib/crypto/libtomcrypt]path src/lib/crypto/libtomcrypturl https://github.com/PX4/libtomcrypt.gitbranch px4
[submodule src/lib/crypto/libtommath]path src/lib/crypto/libtommathurl https://github.com/PX4/libtommath.gitbranch px4
[submodule src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client]path src/modules/uxrce_dds_client/Micro-XRCE-DDS-Clienturl https://github.com/PX4/Micro-XRCE-DDS-Client.gitbranch px4将其更新为 gitee 的地址已经整理测试好了直接替换掉文件的内容即可
[submodule src/modules/mavlink/mavlink]path src/modules/mavlink/mavlinkurl https://gitee.com/wtp95/mavlink.gitbranch master[submodule Tools/flightgear_bridge]path Tools/simulation/flightgear/flightgear_bridgeurl https://gitee.com/seokhb/PX4-FlightGear-Bridge.git[submodule Tools/simulation/gazebo-classic/sitl_gazebo-classic]path Tools/simulation/gazebo-classic/sitl_gazebo-classicurl https://gitee.com/seokhb/PX4-SITL_gazebo-classic.gitbranch main[submodule Tools/simulation/jmavsim/jMAVSim]path Tools/simulation/jmavsim/jMAVSimurl https://gitee.com/seokhb/jMAVSim.gitbranch main[submodule Tools/simulation/jsbsim/jsbsim_bridge]path Tools/simulation/jsbsim/jsbsim_bridgeurl https://gitee.com/seokhb/px4-jsbsim-bridge.git[submodule platforms/nuttx/NuttX/apps]path platforms/nuttx/NuttX/appsurl https://gitee.com/seokhb/NuttX-apps.gitbranch px4_firmware_nuttx-10.3.0[submodule platforms/nuttx/NuttX/nuttx]path platforms/nuttx/NuttX/nuttxurl https://gitee.com/seokhb/NuttX.gitbranch px4_firmware_nuttx-10.3.0-v1.14[submodule src/drivers/cyphal/public_regulated_data_types]path src/drivers/cyphal/public_regulated_data_typesurl https://gitee.com/seokhb/public_regulated_data_types.git[submodule src/drivers/cyphal/legacy_data_types]path src/drivers/cyphal/legacy_data_typesurl https://gitee.com/jiyuanwangxs/legacy_data_types.gitbranch legacy[submodule src/drivers/cyphal/libcanard]path src/drivers/cyphal/libcanardurl https://gitee.com/seokhb/libcanard.git[submodule src/drivers/gps/devices]path src/drivers/gps/devicesurl https://gitee.com/seokhb/PX4-GPSDrivers.gitbranch main[submodule src/drivers/uavcan/libuavcan]path src/drivers/uavcan/libuavcanurl https://gitee.com/seokhb/libuavcan.git[submodule src/lib/crypto/libtomcrypt]path src/lib/crypto/libtomcrypturl https://gitee.com/seokhb/libtomcrypt.gitbranch px4[submodule src/lib/crypto/libtommath]path src/lib/crypto/libtommathurl https://gitee.com/seokhb/libtommath.gitbranch px4[submodule src/lib/crypto/monocypher]path src/lib/crypto/monocypherurl https://gitee.com/seokhb/Monocypher.gitbranch px4[submodule src/lib/events/libevents]path src/lib/events/libeventsurl https://gitee.com/seokhb/libevents.gitbranch main[submodule src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client]path src/modules/uxrce_dds_client/Micro-XRCE-DDS-Clienturl https://gitee.com/seokhb/Micro-XRCE-DDS-Client.gitbranch px4然后执行下面的命令就可以
git submodule update --init --recursive有的子模块还是走的github失败了就多试几次直到用上面命令不再下载东西了就可以了
开发环境搭建
PX4的完整代码已经下载完了接下来就是配置开发环境。PX4源码中已经提供了开发环境配置的脚本在/PX4-Autopilot/Tools/setup目录中该目录下的文件如下 可以看到里面有Arch/Macos和ubuntu系统的配置脚本。 ubuntu系统运行ubuntu.sh文件 这是一个脚本文件里面是一些bash命令可以理解为一系列下载px4开发环境的代码。在上图界面右键选择在终端打开使用下列命令运行
bash ubuntu.sh如果出现很多错误和镜像源有关那么则手动安装一些模块
sudo apt install python3-pip
pip3 install kconfiglib
pip3 install --user jinja2
pip3 install --user jsonschema
sudo apt-get update
sudo apt-get install libgstreamer1.0-0 gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-libav gstreamer1.0-doc gstreamer1.0-tools gstreamer1.0-x gstreamer1.0-alsa gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-qt5 gstreamer1.0-pulseaudio libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev然后需配置~/.bashrc文件打开该文件在底部添加如下内容保存。
# PX4 initialize
source ~/PX4-Autopilot/Tools/simulation/gazebo-classic/setup_gazebo.bash ~/PX4-Autopilot ~/PX4-Autopilot/build/px4_sitl_default
export ROS_PACKAGE_PATH$ROS_PACKAGE_PATH:~/PX4-Autopilot
export ROS_PACKAGE_PATH$ROS_PACKAGE_PATH:~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic
# PX4 initialize 然后进行编译
cd ~/PX4-Autopilot # 也可以 roscd px4
make px4_sitl_default gazebo
cd ~/PX4-Autopilot
如果出现下面的错误一直在等待master [Msg] Waiting for master.
[Err] [ConnectionManager.cc:121] Failed to connect to master in 30 seconds.
[Err] [gazebo_shared.cc:78] Unable to initialize transport.
[Err] [gazebo_client.cc:56] Unable to setup Gazebo
则需要在.bashrc文件的最后一行加入c
source /opt/ros/noetic/setup.bash然后再启动
终端出现如下gazebo启动中间有个小飞机则代表开发环境搭建成功
MAVROS安装
安装geographiclib数据库GeographicLib是一个用于解决地理坐标转换、大地测量geodesy和地图投影等问题的库广泛用于航空航天和GIS地理信息系统领域
安装MAVROS
sudo apt install ros-noetic-mavros ros-noetic-mavros-extras准备解压 …/ros-noetic-mavros_1.18.0-1focal.20240304.150259_amd64.deb … 正在解压 ros-noetic-mavros (1.18.0-1focal.20240304.150259) 并覆盖 (1.15.0-1focal .20230216.003459) … 准备解压 …/ros-noetic-mavros-extras_1.18.0-1focal.20240304.151354_amd64.deb . … 正在解压 ros-noetic-mavros-extras (1.18.0-1focal.20240304.151354) 并覆盖 (1.15.0 -1focal.20230216.014052) … 正在设置 ros-noetic-mavros (1.18.0-1focal.20240304.150259) … 正在设置 ros-noetic-mavros-extras (1.18.0-1focal.20240304.151354) … 安装geographiclib数据库GeographicLib是一个用于解决地理坐标转换、大地测量geodesy和地图投影等问题的库广泛用于航空航天和GIS地理信息系统领域
wget https://gitee.com/robin_shaun/XTDrone/raw/master/sitl_config/mavros/install_geographiclib_datasets.sh
sudo chmod ax ./install_geographiclib_datasets.sh
sudo ./install_geographiclib_datasets.sh 检查MAVROS是否安装成功可输入如下命令
roslaunch px4 mavros_posix_sitl.launch新打开一个终端输入
rostopic echo mavros/stateheader: seq: 27 stamp: secs: 27 nsecs: 524000000 frame_id: ‘’ connected: True armed: False guided: True manual_input: False mode: “AUTO.LOITER” system_status: 3 看到connected为True 则 MAVROS安装成功 安装地面站QGC
首先执行下面指令
sudo usermod -a -G dialout $USERsudo apt-get remove modemmanager -y安装一些依赖库
sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y
sudo apt install libfuse2 -y
sudo apt install libxcb-xinerama0 libxkbcommon-x11-0 libxcb-cursor0 -y然后系统登出再登入确定改变了用户权限
下面开始安装QGC 下载QGroundControl.AppImage,下载链接 将该文件移动到主目录下面 通过指令更改权限和运行
chmod x ./QGroundControl.AppImage
./QGroundControl.AppImage 然后会运行QGC的软件
之后双击 QGroundControl.AppImage 图标也可以运行该软件
