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PX4配置过程与踩坑 - 云梦士
source link: https://www.cnblogs.com/yunmeng-shi/p/16330819.html
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由于需要在GitHub下载代码,而国内访问受限,可能会出现一些问题,这里建议使用github国内镜像,参看:GitHub国内镜像网站,当然下面会给出具体解决方案。
1.1下载源码:git clone https://github.com/PX4/PX4-Autopilot.git
注意:
若该步骤出错,使用镜像,也就是运行:git clone https://hub.fastgit.xyz/PX4/PX4-Autopilot.git
或者使用gitee镜像:git clone https://gitee.com/robin_shaun/PX4_Firmware
(注意使用这个方法时的源码文件名是PX4_Firmware
)
1.2 切换到源码文件夹:cd PX4-Autopilot
1.3 更新工程子模块git submodule update --init --recursive
注意:
若该步骤出错,归根到底还是因为github访问不稳定。解决方案如下:
(方案的总体原则就是改变源码里面各个.gitmodules
文件里的下载地址,需要注意的是源码位置,我这里是将源码放在主文件夹下,也就是 ~/PX4_Autopilot
)
(1)源码主文件夹下
cd ~/PX4_Autopilot
gedit .gitmodules
(注意:这里主要是为了修改文件,我用的是gedit编辑器,也可以用vim, nano,vs code之类的,后面相同)
将 .gitmodules 中的内容更换为:
[submodule "mavlink/include/mavlink/v2.0"]
path = mavlink/include/mavlink/v2.0
url = https://gitee.com/robin_shaun/c_library_v2.git
branch = master
[submodule "src/drivers/uavcan/libuavcan"]
path = src/drivers/uavcan/libuavcan
url = https://gitee.com/robin_shaun/uavcan.git
branch = px4
[submodule "Tools/jMAVSim"]
path = Tools/jMAVSim
url = https://gitee.com/robin_shaun/jMAVSim.git
branch = master
[submodule "Tools/sitl_gazebo"]
path = Tools/sitl_gazebo
url = https://gitee.com/robin_shaun/sitl_gazebo.git
branch = master
[submodule "src/lib/matrix"]
path = src/lib/matrix
url = https://gitee.com/robin_shaun/Matrix.git
branch = master
[submodule "src/lib/ecl"]
path = src/lib/ecl
url = https://gitee.com/robin_shaun/ecl.git
branch = master
[submodule "boards/atlflight/cmake_hexagon"]
path = boards/atlflight/cmake_hexagon
url = https://gitee.com/robin_shaun/cmake_hexagon.git
branch = px4
[submodule "src/drivers/gps/devices"]
path = src/drivers/gps/devices
url = https://gitee.com/robin_shaun/GpsDrivers.git
branch = master
[submodule "src/modules/micrortps_bridge/micro-CDR"]
path = src/modules/micrortps_bridge/micro-CDR
url = https://gitee.com/robin_shaun/micro-CDR.git
branch = px4
[submodule "platforms/nuttx/NuttX/nuttx"]
path = platforms/nuttx/NuttX/nuttx
url = https://gitee.com/robin_shaun/NuttX.git
branch = px4_firmware_nuttx-9.1.0+
[submodule "platforms/nuttx/NuttX/apps"]
path = platforms/nuttx/NuttX/apps
url = https://gitee.com/robin_shaun/NuttX-apps.git
branch = px4_firmware_nuttx-9.1.0+
[submodule "platforms/qurt/dspal"]
path = platforms/qurt/dspal
url = https://gitee.com/robin_shaun/dspal.git
[submodule "Tools/flightgear_bridge"]
path = Tools/flightgear_bridge
url = https://gitee.com/robin_shaun/PX4-FlightGear-Bridge.git
branch = master
[submodule "Tools/jsbsim_bridge"]
path = Tools/jsbsim_bridge
url = https://gitee.com/robin_shaun/px4-jsbsim-bridge.git
[submodule "src/examples/gyro_fft/CMSIS_5"]
path = src/examples/gyro_fft/CMSIS_5
url = https://gitee.com/mirrors/CMSIS_5
git submodule update --init
(2) libuavcan文件夹
cd ~/PX4_Autopilot/src/drivers/uavcan/libuavcan
gedit .gitmodules
将 .gitmodules 中的内容更换为:
[submodule "dsdl"]
path = dsdl
url = https://gitee.com/robin_shaun/dsdl
branch = legacy-v0
[submodule "libuavcan/dsdl_compiler/pyuavcan"]
path = libuavcan/dsdl_compiler/pyuavcan
url = https://gitee.com/robin_shaun/pyuavcan
[submodule "libuavcan_drivers/kinetis"]
path = libuavcan_drivers/kinetis
url = https://gitee.com/robin_shaun/libuavcan_kinetis.git
git submodule update --init
(3) jMAVSim文件夹
cd ~/PX4_Autopilot/Tools/jMAVSim
gedit .gitmodules
将 .gitmodules 中的内容更换为:
[submodule "jMAVlib"]
path = jMAVlib
url = https://gitee.com/robin_shaun/jMAVlib
branch = master
git submodule update --init
(4) sitl_gazebo文件夹
cd ~/PX4_Autopilot/Tools/sitl_gazebo
gedit .gitmodules
将 .gitmodules 中的内容更换为:
[submodule "external/OpticalFlow"]
path = external/OpticalFlow
url = https://gitee.com/robin_shaun/OpticalFlow
git submodule update --init
(5) dspal文件夹
cd ~/PX4_Autopilot/platforms/qurt/dspal
gedit .gitmodules
将 .gitmodules 中的内容更换为:
[submodule "cmake_hexagon"]
path = cmake_hexagon
url = https://gitee.com/robin_shaun/cmake_hexagon
git submodule update --init
(6) pyuavcan文件夹
cd ~/PX4_Autopilot/src/drivers/uavcan/libuavcan/libuavcan/dsdl_compiler/pyuavcan
gedit .gitmodules
将 .gitmodules 中的内容更换为:
[submodule "dsdl"]
path = dsdl
url = https://gitee.com/robin_shaun/dsdl
git submodule update --init
(7) OpticalFlow文件夹
cd ~/PX4_Autopilot/Tools/sitl_gazebo/external/OpticalFlow
gedit .gitmodules
将 .gitmodules 中的内容更换为:
[submodule "external/klt_feature_tracker"]
path = external/klt_feature_tracker
url = https://gitee.com/robin_shaun/klt_feature_tracker
git submodule update --init
(8)终于修改完了,可以再次运行下这句命令
git submodule update --init
1.4 编译
cd ~/PX4_Firmware
make px4_sitl_default gazebo
注意:
这一步可能会报错:ninja: build stopped: subcommand failed.
不要慌!
- 先看看子模块是否更新成功。执行命令:
git submodule update --init --recursive
linux哲学,没有消息就是好消息,如果没有出现任何内容,说明子模块更新成功(看不懂什么是子模块也没问题,意思就是到此为止,没问题)。 - 接下来清理下make环境就ok了:
make clean
- 最后再执行一次编译命令:
make px4_sitl_default
以下是我成功的界面
2. 打开gazebo make px4_sitl_default gazebo
注意:
如果gazebo出不来,可以这么做:
- 清理一下:
make distclean
- 重新安装:
sudo apt-get install ros-melodic-gazebo-dev
- 再次运行:
make px4_sitl_default gazebo
2. 祝你配置顺利!如有问题,欢迎讨论!
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