XTDrone ROS安装
本博客是参考XTDrone内容，进行ROS安装和配置。参考连接：XTDrone\
- 梗概ubuntu18的源，并更新。参考：更改ubunut源
sudo apt update
sudo apt upgrade -y
- 依赖安装
sudo apt install -y ninja-build exiftool python-argparse python-empy python-toml python-numpy python-yaml python-dev python-pip ninja-build protobuf-compiler libeigen3-dev genromfs xmlstarlet libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev
pip2 install pandas jinja2 pyserial cerberus pyulog==0.7.0 numpy toml pyquaternion
pip3 install packaging numpy empy toml pyyaml jinja2 rospkg
- ros安装：ROS官网
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install -y curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install -y ros-melodic-desktop-full
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt install -y python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt install -y python-rosdep
rosdep会出错，依照XTDrone的rosdepc进行安装，参考链接：XTDrone ROSDEP
sudo pip install rosdepc
sudo rosdepc init
rosdepc update
roscore # 进行测试
- 新建工作空间
cd
mkdir -p ~/catkin_ws/src
mkdir -p ~/catkin_ws/scripts
cd catkin_ws/src && catkin_init_workspace # 使用catkin-tools话，则为cd catkin_ws && catkin init
cd .. && catkin_make # 使用catkin-tools话，则为catkin build
- mavros安装
cd
sudo apt install -y ros-melodic-mavros ros-melodic-mavros-extras # for ros-melodic
wget https://gitee.com/robin_shaun/XTDrone/raw/master/sitl_config/mavros/install_geographiclib_datasets.sh
sudo chmod a+x ./install_geographiclib_datasets.sh
sudo ./install_geographiclib_datasets.sh #这步需要装一段时间,请耐心等待PX4配置
- 重装gazebo
sudo apt-get remove gazebo* -y
sudo apt-get remove libgazebo* -y
sudo apt-get remove ros-melodic-gazebo* -y #kinetic noetic对应修改
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install gazebo9 -y
sudo apt-get install libgazebo9-dev -y
gazebo
如果报错gazebo，是缺少相应的包，百度查询方法
sudo apt upgrade libignition-math2
sudo apt install ros-melodic-gazebo-* #melodic
roscore
rosrun gazebo_ros gazebo
- PX4配置，利用国内gitee
git clone https://gitee.com/robin_shaun/PX4_Firmware
cd PX4_Firmware
git checkout -b xtdrone/dev v1.11.0-beta1
rm .gitmodules
nano .gitmodules
[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
# The 1
git submodule update --init
cd ~/PX4_Firmware/src/drivers/uavcan/libuavcan
rm .gitmodules
nano .gitmodules
[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
# The 2
git submodule update --init
cd ~/PX4_Firmware/Tools/jMAVSim
rm .gitmodules
nano .gitmodules
[submodule "jMAVlib"]
path = jMAVlib
url = https://gitee.com/robin_shaun/jMAVlib
branch = master
# The 3
git submodule update --init
cd ~/PX4_Firmware/Tools/sitl_gazebo
rm .gitmodules
nano .gitmodules
[submodule "external/OpticalFlow"]
path = external/OpticalFlow
url = https://gitee.com/robin_shaun/OpticalFlow
# The 4
git submodule update --init
cd ~/PX4_Firmware/platforms/qurt/dspal
rm .gitmodules
nano .gitmodules
[submodule "cmake_hexagon"]
path = cmake_hexagon
url = https://gitee.com/robin_shaun/cmake_hexagon
# The 5
git submodule update --init
cd ~/PX4_Firmware/src/drivers/uavcan/libuavcan/libuavcan/dsdl_compiler/pyuavcan
rm .gitmodules
nano .gitmodules
[submodule "dsdl"]
path = dsdl
url = https://gitee.com/robin_shaun/dsdl
# The 6
git submodule update --init
cd ~/PX4_Firmware/Tools/sitl_gazebo/external/OpticalFlow
rm .gitmodules
nano .gitmodules
[submodule "external/klt_feature_tracker"]
path = external/klt_feature_tracker
url = https://gitee.com/robin_shaun/klt_feature_tracker
git submodule update --init
cd ~/PX4_Firmware
make px4_sitl_default gazebo
- 修改bashrc文件
nano ~/.bashrc
source ~/catkin_ws/devel/setup.bash
source ~/PX4_Firmware/Tools/setup_gazebo.bash ~/PX4_Firmware/ ~/PX4_Firmware/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4_Firmware
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4_Firmware/Tools/sitl_gazebo
source ~/.bashrc
- PX4飞控连接
roslaunch mavros px4.launch fcu_url:="/dev/ttyACM0:921600"
- XTDrone下载
cd
git clone https://gitee.com/robin_shaun/XTDrone.git
cd XTDrone
git submodule update --init --recursive
cp sensing/gimbal/gazebo_gimbal_controller_plugin.cpp ~/PX4_Firmware/Tools/sitl_gazebo/src/
cp sitl_config/init.d-posix/rcS ~/PX4_Firmware/ROMFS/px4fmu_common/init.d-posix/
cp sitl_config/worlds/* ~/PX4_Firmware/Tools/sitl_gazebo/worlds/
cp -r sitl_config/models/* ~/PX4_Firmware/Tools/sitl_gazebo/models/
cp -r sitl_config/launch/* ~/PX4_Firmware/launch/
cd ~/.gazebo/models/
rm -r stereo_camera/ 3d_lidar/ 3d_gpu_lidar/ hokuyo_lidar/
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