ROS (1) with MAVROS Installation Guide
WARNING
The PX4 development team recommend that all users upgrade to ROS 2. This documentation reflects the "old approach".
This documentation explains how to set up communication between the PX4 Autopilot and a ROS 1 enabled companion computer using MAVROS.
MAVROS is a ROS 1 package that enables MAVLink extendable communication between computers running ROS 1 for any MAVLink enabled autopilot, ground station, or peripheral. MAVROS is the "official" supported bridge between ROS 1 and the MAVLink protocol.
First we install PX4 and ROS, and then MAVROS.
Install ROS and PX4
This section explains how to install ROS 1 with PX4. ROS 1 full desktop builds come with Gazebo Classic, so normally you will not install the simulator dependencies yourself!
TIP
These instructions are a simplified version of the official installation guide. They cover the ROS Melodic and Noetic releases.
Install MAVROS
Then MAVROS can be installed either from source or binary. We recommend that developers use the source installation.
二进制安装 (Debian/Ubuntu)
The ROS repository has binary packages for Ubuntu x86, amd64 (x86_64) and armhf (ARMv7). Kinetic also supports Debian Jessie amd64 and arm64 (ARMv8).
Use apt-get
for installation, where ${ROS_DISTRO}
below should resolve to kinetic
or noetic
, depending on your version of ROS:
sh
sudo apt-get install ros-${ROS_DISTRO}-mavros ros-${ROS_DISTRO}-mavros-extras ros-${ROS_DISTRO}-mavros-msgs
Then install GeographicLib datasets by running the install_geographiclib_datasets.sh
script:
sh
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
./install_geographiclib_datasets.sh
源码方式安装
This installation assumes you have a catkin workspace located at ~/catkin_ws
If you don't create one with:
sh
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
wstool init src
You will be using the ROS Python tools: wstool (for retrieving sources), rosinstall, and catkin_tools (building) for this installation. While they may have been installed during your installation of ROS you can also install them with:
sh
sudo apt-get install python-catkin-tools python-rosinstall-generator -y
TIP
While the package can be built using catkin_make the preferred method is using catkin_tools as it is a more versatile and "friendly" build tool.
If this is your first time using wstool you will need to initialize your source space with:
sh
$ wstool init ~/catkin_ws/src
Now you are ready to do the build:
安装Mavlink
sh# We use the Kinetic reference for all ROS distros as it's not distro-specific and up to date rosinstall_generator --rosdistro kinetic mavlink | tee /tmp/mavros.rosinstall
安装MAVROS最新的版本:
发行版 / 稳定版
shrosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall
Latest source
shrosinstall_generator --upstream-development mavros | tee -a /tmp/mavros.rosinstall
sh# For fetching all the dependencies into your catkin_ws, # just add '--deps' to the above scripts, E.g.: # rosinstall_generator --upstream mavros --deps | tee -a /tmp/mavros.rosinstall
Create workspace & deps
shwstool merge -t src /tmp/mavros.rosinstall wstool update -t src -j4 rosdep install --from-paths src --ignore-src -y
Install GeographicLib datasets:
sh./src/mavros/mavros/scripts/install_geographiclib_datasets.sh
构建源码
shcatkin build
确保从工作区中使用 setup. bash 或 setup. zsh。
sh#Needed or rosrun can't find nodes from this workspace. source devel/setup.bash
In the case of error, there are addition installation and troubleshooting notes in the mavros repo.
MAVROS Examples
The MAVROS Offboard Example (C++), will show you the basics of MAVROS, from reading telemetry, checking the drone state, changing flight modes and controlling the drone.
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If you have an example app using the PX4 Autopilot and MAVROS, we can help you get it on our docs.