ubuntu20.04搭建PX4编译环境
时间: 2024-08-29 13:00:29 浏览: 38
在Ubuntu 20.04上搭建PX4编译环境通常涉及安装必要的依赖库、设置开发工具链和配置环境变量。以下是详细的步骤:
1. **更新系统**:
```
sudo apt update && sudo apt upgrade
```
2. **安装基本依赖**:
```
sudo apt install -y build-essential git cmake ninja-build python3-pip libudev-dev libgstreamer-plugins-base1.0-dev libavahi-client-dev libjpeg-dev libpng-dev libsqlite3-dev libeigen3-dev ros-melodic-px4-tools ros-melodic-vehicle_description ros-melodic-turtlebot3_description
```
3. **安装ROS Melodic Melodic(如果你还没有安装)**:
```
sudo apt-get source ros-melodic-desktop
cd ros-melodic-desktop*
catkin_init_workspace
```
完成源码安装并创建工作空间。
4. **下载并构建PX4**:
```
mkdir ~/src
cd ~/src
git clone https://github.com/PX4/Firmware.git
cd Firmware
mkdir -p build
cd build
export PX4_HOME=$PWD/..
wstool init src
wstool merge -t src .rosinstall
cmake ..
ninja
```
5. **设置环境变量** (在.bashrc或.zshrc文件中添加):
```bash
export PATH=${PATH}:${PX4_HOME}/devel/bin
export PKG_CONFIG_PATH=${PX4_HOME}/devel/lib/pkgconfig:$PKG_CONFIG_PATH
```
6. **使改动生效**:
```
source ~/.bashrc
```
7. **测试编译**:
验证是否成功安装和编译,可以尝试运行`make px4_sitl`,它会启动模拟飞行器。