整体说明
本文是安装px4的简单记录。直接参考本文是无法正常安装好PX4的。建议新手安装过程最好搭梯子。
一些步骤
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sudo apt-get update
sudo apt-get upgrade
sudo apt-get install git -
配置共享文件夹
https://www.waveshare.net/study/article-1047-1.html
将需要用的资料复制到共享文件夹内。 -
安装向日葵软件 sudo dpkg -i XXXXXX 这样就可以在windows下操作ubuntu了。
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打开终端, 导入网络配置export http_proxy=127.0.0.1:41091 https_proxy=127.0.0.1:41091
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克隆代码:git clone https://github.com/PX4/PX4-Autopilot.git --recursive
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运行安装脚本./PX4-Autopilot/Tools/setup/ubuntu.sh
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bash 过程中出现 Failed building wheel for Pillow
python3 -m pip install --upgrade pip
python3 -m pip install --upgrade Pillow -
电脑重启启动
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编译运行jmavsim和gazebo
make px4_sitl jmavsim
make px4_sitl gazebo -
wget https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_ros_melodic.sh
bash ubuntu_sim_ros_melodic.sh -
执行脚本的过程中会遇到如下错误,不用管
ERROR: Command errored out with exit status 1: python setup.py egg_info Check the logs for full command output. -
安装完后
sudo rosdep init
此步骤会报错:ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
处理方法: ping raw.githubusercontent.com。
将185.199.111.133 raw.githubusercontent.com添加好host文件
sudo gedit /etc/hosts -
rosdep update
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重新打开一个终端,输入roscore,用于测试ros是否安装成功。
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再打开一个终端,安装turtlesim功能包sudo apt-get install ros-melodic-turtlesim
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启动一个节点rosrun turtlesim turtlesim_node
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用键盘控制小乌龟。需要重启打开一个终端。然后输入rosrun turtlesim turtle_teleop_key
参考的连接
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ROS+Gazebo+PX4开发环境:
https://blog.csdn.net/kkkdlll/article/details/120077746
https://blog.csdn.net/Ay_wanglaoda/article/details/122480445?spm=1001.2014.3001.5506
https://blog.csdn.net/qq_19469271/article/details/119935178
https://www.zhihu.com/column/c_1303348892625469440 -
官方文档:
https://docs.px4.io/master/en/dev_setup/dev_env_linux_ubuntu.html -
向日葵安装使用
https://service.oray.com/question/11017.html -
仿真器的起始位置设置
export PX4_HOME_LAT=32.098509 PX4_HOME_LON=118.885751