Ubuntu18.04 GAAS学习笔记

全程参考官方文档，总结遇见的错误：https://gaas.gitbook.io/guide/software-realization-build-your-own-autonomous-drone/wu-ren-ji-zi-dong-jia-shi-xi-lie-offboard-kong-zhi-yi-ji-gazebo-fang-zhen#px4-firmware

1 环境构建

1.1 依赖项安装

开启终端依次执行以下命令

sudo apt install -y \
	ninja-build \
	exiftool \
	python-argparse \
	python-empy \
	python-toml \
	python-numpy \
	python-yaml \
	python-dev \
	python-pip \
	ninja-build \
	protobuf-compiler \
	libeigen3-dev \
	genromfs 

sudo apt install ros-melodic-catkin python-catkin-tools

pip install \
	pandas \
	jinja2 \
	pyserial \
	cerberus \
	pyulog \
	numpy \
	toml \
	pyquaternion

1.2 ros安装

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
#使用国内的ROS镜像源
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654
sudo apt-get update
sudo apt-get install ros-melodic-desktop-full
sudo rosdep init
rosdep update
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt install python-rosinstall python-catkin-tools python-rosinstall-generator python-wstool build-essential
​
# install ros-gazebo plugins
sudo apt install ros-melodic-gazebo-*

1.3 MAVROS安装

安装MAVROS第一步：

cd && mkdir catkin_ws
cd ~/catkin_ws
catkin init && wstool init src
rosinstall_generator --rosdistro kinetic mavlink | tee /tmp/mavros.rosinstall
rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall
wstool merge -t src /tmp/mavros.rosinstall
wstool update -t src -j4
rosdep install --from-paths src --ignore-src -y

遇见的问题：
1、由于网络原因下载失败多尝试几次就行。
2、

报错原因：下载ros的时候由于执行rosdep相关命令时报错所以跳过了rosdep init 和rosdep update
解决方式：
终端执行：

rosdep init
rosdep update

由于网络原因依旧报错，尝试了网上修改conf文件、修改hosts文件等都没有效果，最终参考https://blog.csdn.net/qq_30267617/article/details/115028689的方法三完成（注意该博客rep3.py修改路径少加了\\\，按照其他两个写的文件路径加上就可以了）

安装成功：

安装MAVROS第二步：

# 安装geographic lib :
sudo ./src/mavros/mavros/scripts/install_geographiclib_datasets.sh
catkin build

1.4 PX4 Firmware安装