Autopilot.md

PX/PX4-Autopilot

记录PX4 安装全过程

系统环境：

• Ubuntu18.04.5 LTS x86_64
• Kernel: 5.4.0-80-generic
• ROS melodic 1.14.11

硬件：

• NUC8 i7-8650U & NUC10 i7-10710U
• 镭神激光雷达 C16 / Velodyne VPL-16
• Xsens Mti-300
• 路由器: AR750S
• 飞控: PX4

Autopilot

官方文档:

构建px4_ws

• velodyne(可选)
• lslidar_c16
• advanced_navigation_driver

问题：

• -

最好需要一台新的Ubuntu18.04环境, 里面不配置任何东西. 换个源就够
脚本: sources-tools.sh

大概过程: ubuntu.sh -> ubuntu_sim_ros_melodic.sh -> PX4-Autopilot.git

---

环境配置note (已经过测试)

运行前需要切换python3版本, 查看方式 python -V

sudo update-alternatives --install /usr/bin/python python /usr/bin/python2 100
sudo update-alternatives --install /usr/bin/python python /usr/bin/python3 150

顺便更新一下pip (虚拟机安装过程中发现问题)

sudo python -m pip install --upgrade --force pip 

Ubuntu Setup

来源: https://docs.px4.io/master/en/dev_setup/dev_env_linux_ubuntu.html

下载源码, 运行脚本

git clone https://github.com/PX4/PX4-Autopilot.git --recursive
# Run the ubuntu.sh with no arguments (in a bash shell) to install everything
bash ./PX4-Autopilot/Tools/setup/ubuntu.sh
# 安装后要重启
sudo reboot

安装: ROS/Gazebo

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

bash ubuntu_sim_ros_melodic.sh

不出意外的话这里步骤会把 PX4-Autopilot的ROS 工作空间编译通过

进入PX4源码目录，编译

cd ~/PX4-Autopilot [tab]
# Jmavsim
make px4_sitl jmavsim
# Gazebo
make px4_sitl gazebo

进入PX4源码目录，测试roslaunch

source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd):$(pwd)/Tools/sitl_gazebo

roslaunch px4 multi_uav_mavros_sitl.launch

ROS with MAVROS Installation Guide (未经过测试)

来源: https://docs.px4.io/master/en/ros/mavros_installation.html

ROS repository

sudo apt-get install ros-melodic-mavros ros-melodic-mavros-extras

GeographicLib: 由于网站问题, 不一定好用, 需要手动copy

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

MAVROS Installation

mkdir -p ~/catkin_ws/src && cd ~/catkin_ws
catkin init
wstool init src

1.Install MAVLink: 已经修改成 melodic

rosinstall_generator --rosdistro melodic mavlink | tee /tmp/mavros.rosinstall

2.MAVROS Released/stable

rosinstall_generator --upstream mavros | 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.GeographicLib datasets

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

5.Build source

catkin build

6.setup.bash

source devel/setup.bash

测试

问题总览

#Error: Command "python setup.py egg_info" failed with error code 1 in /tmp/pip-build-r0armvum/pymavlink/

解决方法:

sudo python -m pip install --upgrade --force pip 

---

来源:

---

硬件相关:

intel D435i 双目摄像头相关(由于玄学问题，需要降级到v2.45.0版本):

Github: librealsense
ROS: realsense-ros

Velodyne 16线激光雷达:

Github: velodyne
ROS wiki: Getting Started with the Velodyne VLP16

镭神激光雷达 C16:

Github: lslidar_c16
博客: 镭神激光雷达官方驱动安装适配

九轴IMU - Spatial:

Official website: Spatial
ROS wiki: advanced_navigation_driver

---