基于 parallels ubuntu 20.04 LTS (focal) 的ros+px4+gazebo 安装

系统环境：

主机环境	macos 14.2.1 (23C71)、M1芯片
Paralles	商业版 19.1.0 (54729)
ubuntu	ubuntu 20.04 LTS (focal)
PX4	v1.14.0
ROS2	foxy

虚拟机安装 

1. 下载安装 parallels，参考评论；

2. 下载 ubuntu 镜像，使用 ubuntu 20.04 LTS (focal) arm 版本： ubuntu-20.04-live-server-arm64.isohttp://old-releases.ubuntu.com/releases/focal/ubuntu-20.04-live-server-arm64.iso

3. 利用 parallels 安装镜像，一路 continue，参考：Parallels Desktop 19 安装Ubuntu桌面版(m芯片arm架构) - 哔哩哔哩最近超想体验Ubuntu。没敢在真机上试，就现在虚拟机体验体验。由于我的mac是m架构的芯片，只能安装arm版的Ubuntu。目前我试了这三种方法，这里介绍我最后使用的方法，这是三种里面最复杂的一个。因为可以指定系统版本，操作复杂，我尽量详细一点，配上了截图，应该好理解。在Ubuntu官网（https://cn.ubuntu.com/）只找到 Ubuntu Server有arm版本，思路是可以先装server版本，然后再安装桌面环境。 给熟手的安装方法：1、下载arm版本的 Ubuntu Serhttps://www.bilibili.com/read/cv26559447/

# 更新源
sudo apt update
# 安装可视化桌面
sudo apt install ubuntu-desktop

4. 安装 Parallels Tools。

安装编译 PX4

1. 配置环境： 

# 配置
# sudo dpkg --add-architecture amd64
sudo apt-get update
sudo apt-get upgrade

sudo apt-get install git
sudo apt-get install vim

# 一定要升级 cmake
# CMake 3.22 or higher is required by Micro-XRCE-DDS-Agent
# 卸载原来的 cmake
sudo apt-get remove --purge cmake
hash -r
# 安装最新 cmake https://cmake.org/files/v3.22/cmake-3.22.0-linux-aarch64.sh
sudo bash cmake-3.22.0-linux-aarch64.sh --skip-license --exclude-subdir --prefix=/usr/local

 2. 克隆源码：

# 下载 px4 源码
git clone https://github.com/PX4/PX4-Autopilot.git --recursive

cd PX4-Autopilot/Tools/setup/
# delete the two lines (lines 125, 126) in ubuntu.sh
#         g++-multilib \
#        gcc-multilib \
vim ubuntu.sh
sudo apt-get install gcc-multilib-arm-linux-gnueabi gcc-multilib-arm-linux-gnueabihf g++-multilib-arm-linux-gnueabi g++-multilib-arm-linux-gnueabihf
bash ubuntu.sh

# 报错：ubuntu.sh: line 129: gdb-multiarch: command not found
sudo apt-get install gdb-multiarch

# 重启系统

 3. 编译运行：

# 编译
make px4_sitl gazebo
# 起飞
commander takeoff
# make px4_sitl jmavsim

安装ROS2

参考 ROS 2 用户指南 | PX4 自动驾驶用户指南 (main)、Ubuntu (Debian) — ROS 2 Documentation: Galactic documentation

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

# 注意 ：ubuntu 20.04 LTS (focal)不支持 px4 humble 版本，
# galactic 版本尝试后，连接不成功
# sudo apt install ros-humble-desktop
# sudo apt install ros-galactic-desktop
# sudo apt install ros-dev-tools
# source /opt/ros/galactic/setup.bash && echo "source /opt/ros/galactic/setup.bash" >> .bashrc

sudo apt install ros-foxy-desktop python3-argcomplete
sudo apt install ros-dev-tools
source /opt/ros/foxy/setup.bash && echo "source /opt/ros/foxy/setup.bash" >
# 测试
ros2 run turtlesim turtlesim_node
ros2 run turtlesim turtle_teleop_key

# Some Python dependencies must also be installed
pip install --user -U empy==3.3.4 pyros-genmsg setuptools



sudo apt install ros-foxy-desktop python3-argcomplete
sudo apt install ros-dev-tools
source /opt/ros/foxy/setup.bash && echo "source /opt/ros/foxy/setup.bash" >> .bashrc

安装 Micro XRCE-DDS Agent & Client

git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
cd Micro-XRCE-DDS-Agent
c
cmake ..
make

# Error：  CMake 3.22 or higher is required.  You are running version 3.16.3
# 卸载原来的 cmake 安装最新 cmake，重新检查对 cmake 依赖的其他组件是否正常

sudo make install
sudo ldconfig /usr/local/lib/

# To start the agent with settings for connecting to the uXRCE-DDS client running on the simulator
MicroXRCEAgent udp4 -p 8888

Build ROS 2 Workspace

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

rm -f px4_msgs/msg/*.msg
cp ../../PX4-Autopilot/msg/*.msg px4_msgs/msg/

cd ..
colcon build

source install/local_setup.bash
ros2 launch px4_ros_com sensor_combined_listener.launch.py

遇到问题

问题1：运行 “ros2 launch px4_ros_com sensor_combined_listener.launch.py“ 没数据。

原因1：galactic 版本的ROS2不适用，更换foxy版本。

报错“[sensor_combined_listener-1] 1704627439.467785 [0] sensor_com: selected interface "lo" is not multicast-capable: disabling multicast”，执行“ifconfig lo multicast”还是没数据。

export ROS_LOCALHOST_ONLY=1
printenv | grep -i ROS

ifconfig lo multicast

qgc 局域网中 MavLink 连接 px4

# 在 px4 命令行中执行
mavlink start -p -o 14550

mavlink start -p -t 10.211.55.2 -o 14550

# 远程 mavlink 连接
./Tools/mavlink_shell.py 192.168.4.2:14550

安装ROS1

# Setup your computer to accept software from packages.ros.org.
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

# 安装
sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt-get update
sudo apt install ros-noetic-desktop-full

# 配置环境，可选择 ros 版本
vim ~/.bashrc
# 插入 start
echo "ros noetic(1) or ros2 foxy(2)?"
read edition
if [ "$edition" -eq "1" ];then
  source /opt/ros/noetic/setup.bash
else
  source /opt/ros/foxy/setup.bash
fi
# end

# 更新
source ~/.bashrc

错误： RLException: Unable to contact my own server at [http://ubuntu-arm:45885/]. This usually means that the network is not configured properly.

解决：关闭vpn。