最详细的Ubuntu18配置px4_ros_gazebo仿真_gazebo模型库 - CSDN文库

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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

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