Linux系统ubuntu20.04 无人机PX4 开发环境搭建(失败率很低)
PX4固件下载PX4的源码处于GitHub，因为众所周知的原因git clone经常失败，此处从Gitee获取PX4源码和依赖模块。
git clone https://gitee.com/voima/PX4-Autopilot.git
正克隆到 ‘PX4-Autopilot’…
remote: Enumerating objects: 454209, done.
remote: Total 454209 (delta 0), reused 0 (delta 0), pack-reused 454209
接收对象中: 100% (454209/454209), 215.48 MiB | 2.32 MiB/s, 完成.
处理 delta 中: 100% (334699/334699), 完成.
使用cd命令切换到 px4项目文件目录：
cd ~/PX4-Autopilot
使用以下命令切换版本，以V1.14.0为例：
git checkout v1.14.0 #切换到1.14.0分支，当然也可以尝试其他版本
因为PX4的完整项目是嵌套子模块存储的，以上命令只下载了px4的基本代码，所以我们要进行子模块的下载，运行下列命令：
git submodule update --init --recursive # 在~/PX4-Autopilot目录下执行
以上命令中，submodule是子模块的意思， —init 选项会初始化，并注册子模块的地址，—recursive选项会递归克隆子模块。
此更新的链接来源于
~/PX4-Autopilot/.gitmodules(注意是隐藏文件)
将文件打开，粘贴到下面，可以看到里面都github的地址，直接用上面的命令，会很难成功
path = src/modules/mavlink/mavlink url = https://github.com/mavlink/mavlink.git branch = master path = src/drivers/uavcan/libuavcan url = https://github.com/dronecan/libuavcan.git branch = main path = Tools/simulation/jmavsim/jMAVSim url = https://github.com/PX4/jMAVSim.git branch = main path = Tools/simulation/gazebo-classic/sitl_gazebo-classic url = https://github.com/PX4/PX4-SITL_gazebo-classic.git branch = main path = src/drivers/gps/devices url = https://github.com/PX4/PX4-GPSDrivers.git branch = main path = platforms/nuttx/NuttX/nuttx url = https://github.com/PX4/NuttX.git branch = px4_firmware_nuttx-10.3.0+-v1.14 path = platforms/nuttx/NuttX/apps url = https://github.com/PX4/NuttX-apps.git branch = px4_firmware_nuttx-10.3.0+ path = Tools/simulation/flightgear/flightgear_bridge url = https://github.com/PX4/PX4-FlightGear-Bridge.git path = Tools/simulation/jsbsim/jsbsim_bridge url = https://github.com/PX4/px4-jsbsim-bridge.git path = src/drivers/cyphal/libcanard url = https://github.com/opencyphal/libcanard.git path = src/drivers/cyphal/public_regulated_data_types url = https://github.com/opencyphal/public_regulated_data_types.git path = src/drivers/cyphal/legacy_data_types url = https://github.com/PX4/public_regulated_data_types.git branch = legacy path = src/lib/crypto/monocypher url = https://github.com/PX4/Monocypher.git branch = px4 path = src/lib/events/libevents url = https://github.com/mavlink/libevents.git branch = main path = src/lib/crypto/libtomcrypt url = https://github.com/PX4/libtomcrypt.git branch = px4 path = src/lib/crypto/libtommath url = https://github.com/PX4/libtommath.git branch = px4 path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client url = https://github.com/PX4/Micro-XRCE-DDS-Client.git branch = px4
将其更新为 gitee 的地址，已经整理测试好了，直接替换掉文件的内容即可
path = src/modules/mavlink/mavlink url = https://gitee.com/wtp95/mavlink.git branch = master path = Tools/simulation/flightgear/flightgear_bridge url = https://gitee.com/seokhb/PX4-FlightGear-Bridge.git path = Tools/simulation/gazebo-classic/sitl_gazebo-classic url = https://gitee.com/seokhb/PX4-SITL_gazebo-classic.git branch = main path = Tools/simulation/jmavsim/jMAVSim url = https://gitee.com/seokhb/jMAVSim.git branch = main path = Tools/simulation/jsbsim/jsbsim_bridge url = https://gitee.com/seokhb/px4-jsbsim-bridge.git path = platforms/nuttx/NuttX/apps url = https://gitee.com/seokhb/NuttX-apps.git branch = px4_firmware_nuttx-10.3.0+ path = platforms/nuttx/NuttX/nuttx url = https://gitee.com/seokhb/NuttX.git branch = px4_firmware_nuttx-10.3.0+-v1.14 path = src/drivers/cyphal/public_regulated_data_types url = https://gitee.com/seokhb/public_regulated_data_types.git path = src/drivers/cyphal/legacy_data_types url = https://gitee.com/jiyuanwangxs/legacy_data_types.git branch = legacy path = src/drivers/cyphal/libcanard url = https://gitee.com/seokhb/libcanard.git path = src/drivers/gps/devices url = https://gitee.com/seokhb/PX4-GPSDrivers.git branch = main path = src/drivers/uavcan/libuavcan url = https://gitee.com/seokhb/libuavcan.git path = src/lib/crypto/libtomcrypt url = https://gitee.com/seokhb/libtomcrypt.git branch = px4 path = src/lib/crypto/libtommath url = https://gitee.com/seokhb/libtommath.git branch = px4 path = src/lib/crypto/monocypher url = https://gitee.com/seokhb/Monocypher.git branch = px4 path = src/lib/events/libevents url = https://gitee.com/seokhb/libevents.git branch = main path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client url = https://gitee.com/seokhb/Micro-XRCE-DDS-Client.git branch = px4
然后执行下面的命令，就可以
git submodule update --init --recursive
有的子模块还是走的github，失败了就多试几次，直到用上面命令不再下载东西了就可以了
开发环境搭建
PX4的完整代码已经下载完了，接下来就是配置开发环境。PX4源码中已经提供了开发环境配置的脚本，在/PX4-Autopilot/Tools/setup目录中，该目录下的文件如下：
可以看到里面有Arch/Macos和ubuntu系统的配置脚本。
ubuntu系统，运行ubuntu.sh文件
这是一个脚本文件，里面是一些bash命令，可以理解为一系列下载px4开发环境的代码。在上图界面右键选择在终端打开，使用下列命令运行：
bash ubuntu.sh
如果出现很多错误，和镜像源有关，那么则手动安装一些模块
sudo apt install python3-pippip3 install kconfiglibpip3 install --user jinja2pip3 install --user jsonschemasudo apt-get updatesudo apt-get install libgstreamer1.0-0 gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-libav gstreamer1.0-doc gstreamer1.0-tools gstreamer1.0-x gstreamer1.0-alsa gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-qt5 gstreamer1.0-pulseaudio libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev
然后需配置~/.bashrc文件，打开该文件，在底部添加如下内容，保存。
# >>> PX4 initialize >>>source ~/PX4-Autopilot/Tools/simulation/gazebo-classic/setup_gazebo.bash ~/PX4-Autopilot ~/PX4-Autopilot/build/px4_sitl_defaultexport ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilotexport ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic# <<< PX4 initialize <<<
然后进行编译
cd ~/PX4-Autopilot# 也可以 roscd px4make px4_sitl_default gazebo```cd ~/PX4-Autopilot 如果出现下面的错误，一直在等待master
> Waiting for master. Failed to connect to master in 30 seconds. Unable to initialize transport. Unable to setup Gazebo
则需要在.bashrc文件的最后一行加入
```csource /opt/ros/noetic/setup.bash
然后再启动
终端出现如下，gazebo启动，中间有个小飞机，则代表开发环境搭建成功
MAVROS安装
安装geographiclib数据库（GeographicLib是一个用于解决地理坐标转换、大地测量（geodesy）和地图投影等问题的库，广泛用于航空航天和GIS（地理信息系统）领域）
安装MAVROS
sudo apt install ros-noetic-mavros ros-noetic-mavros-extras
准备解压 …/ros-noetic-mavros_1.18.0-1focal.20240304.150259_amd64.deb …
正在解压 ros-noetic-mavros (1.18.0-1focal.20240304.150259) 并覆盖 (1.15.0-1focal
.20230216.003459) …
准备解压 …/ros-noetic-mavros-extras_1.18.0-1focal.20240304.151354_amd64.deb .
..
正在解压 ros-noetic-mavros-extras (1.18.0-1focal.20240304.151354) 并覆盖 (1.15.0
-1focal.20230216.014052) …
正在设置 ros-noetic-mavros (1.18.0-1focal.20240304.150259) …
正在设置 ros-noetic-mavros-extras (1.18.0-1focal.20240304.151354) …
安装geographiclib数据库（GeographicLib是一个用于解决地理坐标转换、大地测量（geodesy）和地图投影等问题的库，广泛用于航空航天和GIS（地理信息系统）领域）
wget https://gitee.com/robin_shaun/XTDrone/raw/master/sitl_config/mavros/install_geographiclib_datasets.shsudo chmod a+x ./install_geographiclib_datasets.shsudo ./install_geographiclib_datasets.sh
检查MAVROS是否安装成功可输入如下命令：
roslaunch px4 mavros_posix_sitl.launch
新打开一个终端，输入：
rostopic echo mavros/state
header:
seq: 27
stamp:
secs: 27
nsecs: 524000000
frame_id: ‘’
connected: True
armed: False
guided: True
manual_input: False
mode: “AUTO.LOITER”
system_status: 3
看到connected为True 则 MAVROS安装成功
安装地面站QGC
首先执行下面指令
sudo usermod -a -G dialout $USER
sudo apt-get remove modemmanager -y
安装一些依赖库
sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -ysudo apt install libfuse2 -ysudo apt install libxcb-xinerama0 libxkbcommon-x11-0 libxcb-cursor0 -y
然后系统登出再登入，确定改变了用户权限
下面开始安装QGC
下载QGroundControl.AppImage,
下载链接（https://d176tv9ibo4jno.cloudfront.net/latest/QGroundControl.AppImage）
将该文件移动到主目录下面
通过指令更改权限，和运行
chmod +x ./QGroundControl.AppImage./QGroundControl.AppImage
然后会运行QGC的软件
之后双击 QGroundControl.AppImage 图标也可以运行该软件
https://mmbiz.qpic.cn/sz_mmbiz_jpg/ZUHCFZqSZzsic3Ae6ibNNIAHD7D6e2zBXoM9wicKnRAtpaqIyOEVO0pmqq52aIEjLYHexTlMLeARGDAITfoR7HFPw/640?wx_fmt=other&from=appmsg&wxfrom=5&wx_lazy=1&wx_co=1&tp=webp
https://mmbiz.qpic.cn/sz_mmbiz_png/ZUHCFZqSZzsicxj35DbPAicxz5LgNbQf3qpznH9FFgaETeoxTaNvbU42ZCuQpbxiabeeTT87bacQ9icWvxScNpx98g/640?wx_fmt=other&from=appmsg&wxfrom=5&wx_lazy=1&wx_co=1&tp=webp
https://mmbiz.qpic.cn/sz_mmbiz_jpg/ZUHCFZqSZzsSR0RUCKGibVLNDUPWWSCbBLs2R3ovcq79dMVtF4KpjVCR3UT6ibChFEXlvksdKFQhWZiaeuBYYPMSA/640?wx_fmt=other&from=appmsg&wxfrom=5&wx_lazy=1&wx_co=1&tp=webp
https://mmbiz.qpic.cn/sz_mmbiz_jpg/ZUHCFZqSZzsSR0RUCKGibVLNDUPWWSCbB11nyprbcdAThfFaZaicbRQ4NvthSv5k3G3SFf8x7xaShGfYP4ZlUhdQ/640?wx_fmt=other&from=appmsg&wxfrom=5&wx_lazy=1&wx_co=1&tp=webp
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