最详细的最详细的Ubuntu18配置配置px4_ros_gazebo仿真仿真
本教程将在Ubuntu18安装ros, px4工具链, 以及gazebo仿真环境
参考此教程可以在Ubuntu16的环境安装ros, px4工具链, 以及gazebo仿真环境
首先，我们来看下Ubuntu各版本对应的gazebo关系，在Ubuntu18中已经安装gazebo9.0
各版本的对应关系如下：请注意ubuntu18对应melodic,ubuntu16对应kinetic
Ubuntu 14.04 Trusty Tahr – ROS Indigo Igloo – Gazebo 2.X 2014-2019
Ubuntu 16.04 Xenial Xerus – ROS Kinetic Kame – Gazebo 7.X 2016-2021
Ubuntu 18.04 Bionic Beaver – ROS Melodic Morenia – Gazebo 9.X 2018-2023
**
1.安装安装px4_toolchain
首先我们来看下px4官网给出的安装说明，px4官网px4官网参考链接
1.px4提供的安装脚本，可以看到melodic版本需要ubuntu_sim_common_deps.sh + ROS/Gazebo and MAVROS
考虑到可能已经安装过ros, 这里我们选择使用
ubuntu_sim_common_deps.sh脚本, 该脚本不会安装gazebo,不然会将ros-melodic中安装的gazebo9覆盖,ubuntu 16版本同样可使用该脚本
step1:
新建脚本一个空的文件ubuntu_sim_common_deps.sh，我直接在vscode中写入保存为.sh文件，可直接复制粘贴，无需改动，只安装px4工具链，代码如下：
#!/bin/bash
## Bash script for setting up a PX4 development environment on Ubuntu LTS (16.04).
## It can be used for installing simulators (only) or for installing the preconditions for Snapdragon Flight or Raspberry Pi.
##
## Installs:
## - Common dependencies and tools for all targets (including: Ninja build system, Qt Creator, pyulog)
## - FastRTPS and FastCDR
## - jMAVSim simulator dependencies
## - PX4/Firmware source (to ~/src/Firmware/)
# Preventing sudo timeout https://serverfault.com/a/833888
trap "exit" INT TERM; trap "kill 0" EXIT; sudo -v || exit $?; sleep 1; while true; do sleep 60; sudo -nv; done 2>/dev/null &
# Ubuntu Config
echo "We must first remove modemmanager"
sudo apt-get remove modemmanager -y
# Common dependencies
echo "Installing common dependencies"
sudo apt-get update -y
sudo apt-get install git zip qtcreator cmake build-essential genromfs ninja-build exiftool astyle -y
# make sure xxd is installed, dedicated xxd package since Ubuntu 18.04 but was squashed into vim-common before
which xxd || sudo apt install xxd -y || sudo apt-get install vim-common --no-install-recommends -y
# Required python packages
sudo apt-get install python-argparse python-empy python-toml python-numpy python-dev python-pip -y
sudo -H pip install --upgrade pip
sudo -H pip install pandas jinja2 pyserial pyyaml
# optional python tools
sudo -H pip install pyulog
# Install FastRTPS 1.7.1 and FastCDR-1.0.8
fastrtps_dir=$HOME/eProsima_FastRTPS-1.7.1-Linux
echo "Installing FastRTPS to: $fastrtps_dir"
if [ -d "$fastrtps_dir" ] then
echo " FastRTPS already installed."
else
pushd .
cd ~
wget https://www.eprosima.com/index.php/component/ars/repository/eprosima-fast-rtps/eprosima-fast-rtps-1-7-1/eprosima_fastrtps-1-7-1-linux-tar-gz -O eprosima_fastrtps-1-7-1-
linux.tar.gz
weixin_38500948
- 粉丝: 3
- 资源: 915
我的内容管理
收起
- 我的资源
快来上传第一个资源
我的收益 登录查看自己的收益
我的积分
登录查看自己的积分
我的C币
登录后查看C币余额
我的收藏 
我的下载 
下载帮助
评论0