Ubuntu18.04安装ROS、Gazebo、Mavros、PX4、QGC教程

修改国内源

修改apt

sudo cp /etc/apt/sources.list /etc/apt/sources.list.old 
sudo gedit /etc/apt/sources.list

输入如下进行保存

deb http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
 
deb http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
 
deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
 
deb http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
 
deb http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse

sudo apt update
sudo apt upgrade

修改pip

sudo gedit ~/.pip/pip.conf

输入如下代码：

[global]
index-url = https://pypi.tuna.tsinghua.edu.cn/simple
[install]
trusted-host = https://pypi.tuna.tsinghua.edu.cn

安装ROS

配置源

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' 

配置Key

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

更新apt

sudo apt update

安装ROS

sudo apt install ros-melodic-desktop-full

默认终端加载ROS环境

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

安装ROS包依赖

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential python-rosdep

初始化rosdep

sudo rosdep init
rosdep update

sudo rosdep init如果报错，可以用手机的热点连接然后重新试一下。再不行可以参考网上的更多解决办法。

ROS测试

启动roscore

开启新的终端，然后运行：

roscore

启动乌龟ui

rosrun turtlesim turtlesim_node

启动乌龟键盘控制器

rosrun turtlesim turtle_teleop_key

安装Gazebo

卸载安装ros时候安装的gazebo

sudo apt-get remove gazebo*
sudo apt-get remove libgazebo*
sudo apt-get remove ros-melodic-gazebo*

设置计算机以接受来自package.osrfoundation.org的软件

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

检查是否成功：

cat /etc/apt/sources.list.d/gazebo-stable.list

安装密钥

wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

更新apt

sudo apt-get update

安装gazebo

sudo apt-get install gazebo9=9.1*

安装ros的gazebo插件

sudo apt install ros-melodic-gazebo9-*
sudo apt install ros-melodic-gazebo-*

安装gazebo依赖

sudo apt upgrade libignition-math2

解决gazebo显示问题

echo "export SVGA_VGPU10=0">>~/.bashrc

测试gazebo的安装

启动两个新的终端：

roscore

rosrun gazebo_ros gazebo

成功运行

安装mavros

更新软件系统

sudo apt-get update
sudo apt-get upgrade

安装mavros的相关依赖

sudo apt-get install ros-melodic-mavros ros-melodic-mavros-extras

下载安装install_geographiclib_datasets

wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
sudo chmod a+x ./install_geographiclib_datasets.sh
sudo bash ./install_geographiclib_datasets.sh

安装PX4

下载PX4源码

git clone -b v1.12.3 https://github.com/PX4/PX4-Autopilot.git --recursive
mv PX4-Autopilot PX4_Firmware

安装依赖

bash ./PX4_Firmware/Tools/setup/ubuntu.sh

PX4编译

cd PX4_Firmware
make px4_sitl_default gazebo

成功之后将打开gazebo。

配置环境

gedit ~/.bashrc

加入如下内容：

source ~/PX4_Firmware/Tools/setup_gazebo.bash ~/PX4_Firmware/ ~/PX4_Firmware/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4_Firmware
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4_Firmware/Tools/sitl_gazebo

当前终端运行一下如下代码，加载配置的环境：

source ~/.bashrc

安装地面站QGC

安装依赖

sudo usermod -a -G dialout $USER
sudo apt-get remove modemmanager -y
sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y
sudo apt install libqt5gui5 -y
sudo apt install libfuse2 -y

下载QGC

wget https://d176tv9ibo4jno.cloudfront.net/latest/QGroundControl.AppImage

运行QGC

chmod +x ./QGroundControl.AppImage
./QGroundControl.AppImage