ROS2与PX4环境安装

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已于 2024-10-26 02:20:27 修改

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分类专栏： PX4 文章标签：笔记

于 2024-10-26 01:03:48 首次发布

本文链接：https://blog.csdn.net/qq_66933129/article/details/143246704

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2 篇文章

订阅专栏

一、官方文档

ROS 2 用户指南 | PX4 Guide (main)

二、安装PX4

cd
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
bash ./PX4-Autopilot/Tools/setup/ubuntu.sh
cd PX4-Autopilot/
make px4_sitl

三、安装ROS2

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8
sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update && sudo apt upgrade -y
sudo apt install ros-humble-desktop
sudo apt install ros-dev-tools
source /opt/ros/humble/setup.bash && echo "source /opt/ros/humble/setup.bash" >> .bashrc

四、一些Python依赖关系

pip install --user -U empy==3.3.4 pyros-genmsg setuptools

五、设置代理

1.从仓库获取源代码并构建代理

git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
cd Micro-XRCE-DDS-Agent
mkdir build
cd build
cmake ..
make
sudo make install
sudo ldconfig /usr/local/lib/

2.启动代理并设置以连接运行在模拟器上的uXRCE-DDS客户端

MicroXRCEAgent udp4 -p 8888

六、启动客户端

make px4_sitl gz_x500

七、构建ROS2工作区

mkdir -p ~/ws_sensor_combined/src/
cd ~/ws_sensor_combined/src/
git clone https://github.com/PX4/px4_msgs.git
#git clone https://github.com/PX4/px4_ros_com.git
cd ..
source /opt/ros/humble/setup.bash
colcon build

八、运行实例

1.获取ROS2环境

cd ~/ws_sensor_combined/
source /opt/ros/humble/setup.bash

source install/local_setup.bash

ros2 launch px4_ros_com sensor_combined_listener.launch.py