PX4 自动驾驶用户指南 (v1.14)

# Ubuntu LTS/Debian Linux 的开发环境

The following instructions set up a PX4 development environment on the Ubuntu Linux LTS (opens new window) versions supported by PX4. This includes: 18.04 (Bionic Beaver), 20.04 (Focal Fossa), and Ubuntu 22.04 (Jammy Jellyfish).

Bash scripts are provided to simplify the process. They are 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.

The supported targets are:

提示

This setup is supported by the PX4 dev team. The instructions may also work on other Debian Linux based systems.

# 一键安装脚本

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.

# Simulation and NuttX (Pixhawk) Targets

ROS

users should first read/skip ahead to the ROS/Gazebo or ROS 2 sections.

Use the ubuntu.sh (opens new window) script to set up a development environment that allows you to build for simulators and/or the NuttX/Pixhawk toolchain. The script installs jMAVSim on all targets, Gazebo Classic 9 on Ubuntu 18.04, Gazebo Classic 11 on Ubuntu 20.04, and Gazebo "Garden" on Ubuntu 22.04.

To install the toolchain:

  1. ubuntu_sim_common_deps.sh：通用依赖，jMAVSim 模拟器

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

注解

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.

  1. 运行 bash 脚本（比如运行 ubuntu_sim.sh ）： bash source ubuntu_sim.sh 所有弹出的提示均确认通过。
    bash ./PX4-Autopilot/Tools/setup/ubuntu.sh
    • 在安装过程中确认并通过所有的提示。
    • 你可以通过传输参数--no-nuttx 和 --no-sim-tools 来跳过 nuttx 和/或 仿真器工具的安装。
  2. 完成后重新启动计算机。
DETAILS

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

  • If you want to use Gazebo on Ubuntu 20.04 you can add it manually. See Gazebo > Installation.

  • 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.

  • 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

# 通用依赖

为 jMAVSim Simulation 安装依赖。

注意

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.

本节解释如何安装 ROS/Gazebo ("Melodic") 以便与PX4一起使用。

  1. 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
  2. ubuntu_sim_nuttx.sh：ubuntu_sim.sh + NuttX 工具。
    bash ubuntu.sh --no-nuttx --no-sim-tools
  3. Then setup an cross-compiler (either GCC or clang) as described in the following sections.

# 如何使用脚本

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 update-alternatives. Install them with the terminal command:

sudo usermod -a -G dialout $USER


```sh
sudo apt-get remove modemmanager

# jMAVSim

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

sudo apt-get update -y
sudo apt-get install git zip qtcreator cmake \
    build-essential genromfs ninja-build exiftool vim-common -y
# Required python packages
sudo apt-get install python-argparse \
    python-empy python-toml python-numpy python-yaml \
    python-dev python-pip -y
sudo -H pip install --upgrade pip 
sudo -H pip install pandas jinja2 pyserial cerberus

# Gazebo

First install GCC (needed to use clang).

sudo apt-get update

# optional python tools
sudo -H pip install pyulog

sudo apt-get install ros-kinetic-desktop-full -y

git clone https://github.com/raspberrypi/tools.git ${HOME}/rpi-tools

# test compiler
$HOME/rpi-tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64/bin/arm-linux-gnueabihf-gcc -v

# permanently update PATH variable by modifying ~/.profile
echo 'export PATH=$PATH:$HOME/rpi-tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64/bin' >> ~/.profile

# update PATH variable only for this session
export PATH=$PATH:$HOME/rpi-tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64/bin
make

# Detailed Information

Additional developer information for using PX4 on Raspberry Pi (including building PX4 natively) can be found here:

# ROS 2

Information about ROS 2 setup and development with PX4 can be found in the ROS 2 User Guide.

Generally speaking if you're working with hardware and don't need to modify PX4 itself, then you do not need a PX4 development environment (dependencies for working with ROS 2 are included and built into PX4 firmware by default).

You will need to install the normal development simulator environment in order to work with the PX4 simulator.

# ROS/Gazebo Classic

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 PX4 simulator dependencies yourself!

# ROS Noetic/Ubuntu 20.04

If you're working with ROS Noetic (opens new window) on Ubuntu 20.04:

  1. Install PX4 without the simulator toolchain:

    1. ubuntu_sim_common_deps.sh：通用依赖，jMAVSim 模拟器

      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
      • 在安装过程中确认并通过所有的提示。

    3. 完成后重新启动计算机。

  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 (opens new window) (ros-noetic-desktop-full is recommended).

  4. Intall MAVROS by following the MAVROS Installation Guide.

# ROS Melodic/Ubuntu 18.04

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

  1. Download the ubuntu_sim_ros_melodic.sh (opens new window) script in a bash shell:

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

  2. 下载脚本

    ROS Gazebo: http://wiki.ros.org/kinetic/Installation/Ubuntu

    随着脚本的运行，可能需要确认一些提示。

注解

  • ROS Melodic is installed with Gazebo (Classic) 9 by default.
  • 你的 catkin （ROS 构建系统）工作目录生成在**~/catkin_ws/**。
  • The script uses instructions from the ROS Wiki "Melodic" Ubuntu page (opens new window).

# Gazebo dependencies

Once you have finished setting up the command-line toolchain:

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