ROS (1) with MAVROS Installation Guide

WARNING

The PX4 development team recommend that all users upgrade to ROS 2. 이 문서는 "이전 접근 방식"을 설명합니다.

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!

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These instructions are a simplified version of the official installation guide. They cover the ROS Melodic and Noetic releases.

If you're working with ROS Noetic on Ubuntu 20.04:

1. Install PX4 without the simulator toolchain:

   1. Download PX4 Source Code:

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

   2. Run the ubuntu.sh the --no-sim-tools (and optionally --no-nuttx):

      bash ./PX4-Autopilot/Tools/setup/ubuntu.sh --no-sim-tools --no-nuttx

      • 스크립트가 진행되는 동안 모든 프롬프트를 확인합니다.

   3. 완료되면 컴퓨터를 재부팅합니다.

2. You may need to install the following additional dependencies:

   sudo apt-get install protobuf-compiler libeigen3-dev libopencv-dev -y

3. Follow the Noetic Installation instructions (ros-noetic-desktop-full is recommended).

If you're working with ROS "Melodic on Ubuntu 18.04:

1. Download the ubuntu_sim_ros_melodic.sh script in a bash shell:

   wget https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_ros_melodic.sh

2. Run the script:

   bash ubuntu_sim_ros_melodic.sh

   You may need to acknowledge some prompts as the script progresses.

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   You don't need to install MAVROS (as shown below), as this is included by the script

   Also note:

   • ROS Melodic is installed with Gazebo (Classic) 9 by default.
   • Your catkin (ROS build system) workspace is created at ~/catkin_ws/.
   • The script uses instructions from the ROS Wiki "Melodic" Ubuntu page.

Install MAVROS

Then MAVROS can be installed either from source or binary. 개발자는 소스로 설치하는 것이 좋습니다.

바이너리 설치(Debian/Ubuntu)

The ROS repository has binary packages for Ubuntu x86, amd64 (x86_64) and armhf (ARMv7). Kinetic은 Debian Jessie amd64 및 arm64(ARMv8)도 지원합니다.

Use apt-get for installation, where ${ROS_DISTRO} below should resolve to kinetic or noetic, depending on your version of ROS:

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:

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

소스 설치

This installation assumes you have a catkin workspace located at ~/catkin_ws If you don't create one with:

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. 다음 명령어를 사용하여 ROS를 설치할 수 있습니다.

sudo apt-get install python-catkin-tools python-rosinstall-generator -y

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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.

wstool을 처음 사용하는 경우 다음을 사용하여 소스 공간을 초기화합니다.

$ wstool init ~/catkin_ws/src

Now you are ready to do the build:

1. MAVLink를 설치합니다.

   # 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

2. 릴리스 또는 최신 버전을 사용하여 소스에서 MAVROS를 설치합니다.

   • 출시/안정

     rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall

   • 최신 소스

     rosinstall_generator --upstream-development mavros | tee -a /tmp/mavros.rosinstall

     # 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

3. Create workspace & deps

   wstool merge -t src /tmp/mavros.rosinstall
   wstool update -t src -j4
   rosdep install --from-paths src --ignore-src -y

4. Install GeographicLib datasets:

   ./src/mavros/mavros/scripts/install_geographiclib_datasets.sh

5. 소스를 빌드합니다.

   catkin build

6. 작업 공간에서 setup.bash 또는 setup.zsh를 사용하는지 확인하십시오.

   #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 예제

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.

INFO

If you have an example app using the PX4 Autopilot and MAVROS, we can help you get it on our docs.

See Also

• mavros ROS Package Summary
• mavros source
• ROS Melodic installation instructions