우분투 개발 환경

The following instructions use a bash script to set up the PX4 development environment on the Ubuntu Linux LTS versions supported by PX4: Ubuntu 22.04 (Jammy Jellyfish), 20.04 (Focal Fossa), and 18.04 (Bionic Beaver).

The environment includes:

• Gazebo Simulator ("Harmonic") on Ubuntu 22.04
• Gazebo Classic Simulator on Ubuntu 20.04 and Ubuntu 18.04
• Build toolchain for Pixhawk (and other NuttX-based hardware).

INFO

The build toolchain for other flight controllers, simulators, and working with ROS are discussed in the Other Targets section below.

TIP

if you need to use Gazebo on Ubuntu 20.04 you can manually install Gazebo "Garden", with the caveat that this is end-of-life in November 2024. If you want to use Gazebo Classic on Ubuntu 22.04 (say) then you can manually install it by following the instructions in Gazebo Classic > Installation.

Simulation and NuttX (Pixhawk) Targets

Use the ubuntu.sh script to set up a development environment that allows you to build for simulators and/or the NuttX/Pixhawk toolchain.

TIP

The script is intended to be run on clean Ubuntu LTS installations, and may not work if run "on top" of an existing system, or on a different Ubuntu release.

툴체인을 설치하려면:

1. Download PX4 Source Code:

git clone https://github.com/PX4/PX4-Autopilot.git --recursive

INFO

The environment setup scripts in the source usually work for recent PX4 releases. If working with an older version of PX4 you may need to get the source code specific to your release.

2. Run the ubuntu.sh with no arguments (in a bash shell) to install everything:

bash ./PX4-Autopilot/Tools/setup/ubuntu.sh

• 스크립트가 진행되는 동안 모든 프롬프트를 확인합니다.
• You can use the --no-nuttx and --no-sim-tools options to omit the NuttX and/or simulation tools.

3. 완료되면 컴퓨터를 재부팅합니다.

Details

Additional notes These notes are provided "for information only":

• This setup is supported by the PX4 Dev Team. The instructions may also work on other Debian Linux based systems.

• You can verify the NuttX installation by confirming the gcc version as shown:

  $arm-none-eabi-gcc --version
  
  arm-none-eabi-gcc (GNU Arm Embedded Toolchain 9-2020-q2-update) 9.3.1 20200408 (release)
  Copyright (C) 2019 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.

• 어쨌든 PX4 소스 코드가 필요합니다. But if you just wanted to set up the development environment without getting all the source code you could instead just download ubuntu.sh and requirements.txt 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

영상 가이드

This video shows how to install the toolchain for NuttX and simulation targets (as covered below) along with the basic testing covered in Building PX4 Software.

WARNING

The video suggests that you build source using JMAVSim, entering the command: make px4_sitl jmavsim. As JMAVSim is now community-supported, you should instead build using Gazebo or Gazebo Classic, as shown in Building the Code

Other Targets

The Ubuntu development environment for ROS, other simulators, and other hardware targets, is covered in their respective documentation. A subset of the relevant topics are linked below.

라즈베리파이

• Raspberry Pi 2/3 Navio2 Autopilot > PX4 Development Environment
• Raspberry Pi 2/3/4 PilotPi Shield.

ROS

• ROS 2: ROS 2 User Guide > Installation & Setup.
• ROS (1): ROS (1) Installation Guide

다음 단계

명령줄 도구 모음 설정후, 다음을 수행합니다.

• Install VSCode (if you prefer using an IDE to the command line).

• Install the QGroundControl Daily Build

  TIP

  The daily build includes development tools that hidden in release builds. 또한, 릴리스 빌드에서 아직 지원되지 않는 새로운 PX4 기능에 대한 액세스를 제공할 수도 있습니다.

:::

• Continue to the build instructions.