无人机虚拟环境配置

无人机配置

1.安装虚拟机

1.1virtualbox

教程(从官网下载最新版即可)：1.2.1 安装虚拟机软件 · Autolabor-ROS机器人入门课程《ROS理论与实践》零基础教程

ubuntu22.04：ubuntu-releases-22.04.4安装包下载_开源镜像站-阿里云

1.2.安装ubuntu22.04

教程：https://blog.csdn.net/Amentos/article/details/127733864?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522171333545516800227491610%2522%252C%2522scm%2522%253A%252220140713.130102334..%2522%257D&request_id=171333545516800227491610&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~top_positive~default-2-127733864-null-null.142^v100^pc_search_result_base4&utm_term=virtualbox%E5%AE%89%E8%A3%85linux%E8%99%9A%E6%8B%9F%E6%9C%BA&spm=1018.2226.3001.4187

1.3安装ros humble

一键安装指令

wget http://fishros.com/install -O fishros && . fishros


 

2.安装依赖

sudo apt install ninja-build exiftool ninja-build protobuf-compiler libeigen3-dev genromfs xmlstarlet libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev python3-pip gawk
 

pip3 install packaging numpy empy toml pyyaml jinja2 pyargparse kconfiglib jsonschema future
 

3.安装gazebo11

官网：Gazebo : Tutorial : Ubuntu

1. Install

curl -sSL http://get.gazebosim.org | sh
 

1. Run

gazebo
 

4.安装MAVROS

sudo apt install ros-humble-mavros ros-humble-mavros-extras
wget https://gitee.com/robin_shaun/XTDrone/raw/master/sitl_config/mavros/install_geographiclib_datasets.sh

sudo chmod a+x ./install_geographiclib_datasets.sh
sudo ./install_geographiclib_datasets.sh #这步需要装一段时间