# Ubuntu Development Environment
The following instructions set up a PX4 development environment on Ubuntu Linux 18.04 and 20.04. This environment can be used to build PX4 for most PX4 targets:
- Pixhawk and other NuttX-based hardware
- jMAVSim Simulation
- Gazebo Simulation
- Raspberry Pi
- ROS (1) (Robotics Operating System)
- Fast DDS - Required for ROS2
This setup is supported by the PX4 dev team.
The supported OS versions for PX4 development are Ubuntu Linux LTS (opens new window) 18.04 (Bionic Beaver) and 20.04 (Focal Fossa). For ROS (1) Ubuntu LTS 18.04 (only) is supported.
The instructions should also work on other Debian Linux based systems, but this is not verified/officially supported.
# Video Guide
# Bash Scripts
Bash scripts are provided to help make it easy to install development environment for different target platforms. They are intended to be run on clean Ubuntu LTS installations.
|ubuntu.sh (opens new window)||Installs Gazebo 9 and jMAVSim simulators and/or NuttX/Pixhawk tools.|
Does not include dependencies for Fast DDS.
|ubuntu_sim_ros_melodic.sh (opens new window)||Installs ROS "Melodic" and PX4 on Ubuntu 18.04 LTS only.|
Do not use on Ubuntu 20.04 or later!
The scripts may not work if installed "on top" of an existing system, or on a different Ubuntu release.
# Gazebo, JMAVSim and NuttX (Pixhawk) Targets
ROS users must follow the instructions for: ROS/Gazebo.
To install the toolchain:
- Download PX4 Source Code:
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
- Run the ubuntu.sh with no arguments (in a bash shell) to install everything:
- Acknowledge any prompts as the script progress.
- You can use the
--no-sim-toolsoptions to omit the NuttX and/or simulation tools.
- Restart the computer on completion.
These are additional "for your information" notes. They only explain the implementation.
- The script installs Gazebo 9 (following gazebosim.org instructions (opens new window)). Gazebo 7, 8 are also supported but not recommended.
- You can verify the NuttX installation by confirming the gcc version as shown:
$arm-none-eabi-gcc --version arm-none-eabi-gcc (GNU Tools for Arm Embedded Processors 7-2017-q4-major) 7.2.1 20170904 (release) [ARM/embedded-7-branch revision 255204] Copyright (C) 2017 Free Software Foundation, Inc. This is free software; see the source for copying conditions. There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- You're going to need the PX4 source code anyway.
But if you just wanted to set up the development environment without getting all the source code you could instead just download ubuntu.sh (opens new window) and requirements.txt (opens new window) and then run ubuntu.sh:
wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/ubuntu.sh wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/requirements.txt bash ubuntu.sh
# Raspberry Pi
The following instructions explain how to set up a build toolchain for RasPi on Ubuntu 18.04.
To build for Ubuntu 20.04 (focal) you must use docker (the GCC toolchain on Ubuntu 20.04 can build PX4, but the generated binary files are too new to run on actual Pi). For more information see PilotPi with Raspberry Pi OS Developer Quick Start > Alternative build method using docker.
To get the common dependencies for Raspberry Pi:
- Download ubuntu.sh (opens new window) and requirements.txt (opens new window) from the PX4 source repository (/Tools/setup/):
wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/ubuntu.sh wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/requirements.txt
- Run ubuntu.sh in a terminal to get just the common dependencies:
bash ubuntu.sh --no-nuttx --no-sim-tools
- Then setup an cross-compiler (either GCC or clang) as described in the following sections.
# GCC (armhf)
Ubuntu software repository provides a set of pre-compiled toolchains. Note that Ubuntu Focal comes up with
gcc-9-arm-linux-gnueabihf as its default installation which is not fully supported, so we must manually install
gcc-8-arm-linux-gnueabihf and set it as the default toolchain. This guide also applies to earlier Ubuntu releases (Bionic).
The following instruction assumes you haven't installed any version of arm-linux-gnueabihf, and will set up the default executable with
Install them with the terminal command:
sudo apt-get install -y gcc-8-arm-linux-gnueabihf g++-8-arm-linux-gnueabihf
Set them as default:
sudo update-alternatives --install /usr/bin/arm-linux-gnueabihf-gcc arm-linux-gnueabihf-gcc /usr/bin/arm-linux-gnueabihf-gcc-8 100 --slave /usr/bin/arm-linux-gnueabihf-g++ arm-linux-gnueabihf-g++ /usr/bin/arm-linux-gnueabihf-g++-8 sudo update-alternatives --config arm-linux-gnueabihf-gcc
# GCC (aarch64)
If you want to build PX4 for ARM64 devices, this section is required.
sudo apt-get install -y gcc-8-aarch64-linux-gnu g++-8-aarch64-linux-gnu sudo update-alternatives --install /usr/bin/aarch64-linux-gnu-gcc aarch64-linux-gnu-gcc /usr/bin/aarch64-linux-gnu-gcc-8 100 --slave /usr/bin/aarch64-linux-gnu-g++ aarch64-linux-gnu-g++ /usr/bin/aarch64-linux-gnu-g++-8 sudo update-alternatives --config aarch64-linux-gnu-gcc
# Clang (optional)
First install GCC (needed to use clang).
We recommend you to get clang from the Ubuntu software repository, as shown below:
sudo apt-get install clang
Example below for building PX4 firmware out of tree, using CMake.
cd <PATH-TO-PX4-SRC> mkdir build/px4_raspberrypi_default_clang cd build/px4_raspberrypi_default_clang cmake \ -G"Unix Makefiles" \ -DCONFIG=px4_raspberrypi_default \ -UCMAKE_C_COMPILER \ -DCMAKE_C_COMPILER=clang \ -UCMAKE_CXX_COMPILER \ -DCMAKE_CXX_COMPILER=clang++ \ ../.. make
# Detailed Information
Additional developer information for using PX4 on Raspberry Pi (including building PX4 natively) can be found here:
This section explains how to install ROS "Melodic" and PX4 on Ubuntu 18.04.
ROS builds are tied to specific Ubuntu versions! ROS Melodic can only install on Ubuntu 18.04.
To install the development toolchain:
- Download the script in a bash shell:
- Run the script:You may need to acknowledge some prompts as the script progresses.
- ROS Melodic is installed with Gazebo9 by default.
- Your catkin (ROS build system) workspace is created at ~/catkin_ws/.
- The script uses instructions from the ROS Wiki "Melodic" Ubuntu page (opens new window).
# Fast DDS installation
eProsima Fast DDS (opens new window) is required if you're using PX4 with ROS2 (or some other RTPS/DDS system).
Follow the instructions in Fast DDS Installation to install it.
# Next Steps
Once you have finished setting up the command-line toolchain:
- Install VSCode (if you prefer using an IDE to the command line).
- Install the QGroundControl Daily Build (opens new window)
The daily build includes development tools that hidden in release builds. It may also provide access to new PX4 features that are not yet supported in release builds.
- Continue to the build instructions.