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Move PX4 Guide source into /docs (#24490)
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
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Hamish Willee
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Ramon Roche
Ramon Roche
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# ROS (1) with MAVROS Installation Guide
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:::warning
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The PX4 development team recommend that all users [upgrade to ROS 2](../ros2/index.md).
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이 문서는 "이전 접근 방식"을 설명합니다.
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:::
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This documentation explains how to set up communication between the PX4 Autopilot and a ROS 1 enabled companion computer using MAVROS.
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[MAVROS](http://wiki.ros.org/mavros#mavros.2BAC8-Plugins.sys_status) is a ROS 1 package that enables MAVLink extendable communication between computers running ROS 1 for any MAVLink enabled autopilot, ground station, or peripheral.
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_MAVROS_ is the "official" supported bridge between ROS 1 and the MAVLink protocol.
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First we install PX4 and ROS, and then MAVROS.
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## Install ROS and PX4
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This section explains how to install [ROS 1](../ros/index.md) with PX4.
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ROS 1 full desktop builds come with Gazebo Classic, so normally you will not install the simulator dependencies yourself!
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:::tip
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These instructions are a simplified version of the [official installation guide](https://github.com/mavlink/mavros/tree/master/mavros#installation).
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They cover the _ROS Melodic and Noetic_ releases.
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:::
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:::: tabs
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:::tab ROS Noetic (Ubuntu 20.04)
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If you're working with [ROS Noetic](http://wiki.ros.org/noetic) on Ubuntu 20.04:
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1. Install PX4 without the simulator toolchain:
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1. [Download PX4 Source Code](../dev_setup/building_px4.md):
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```sh
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git clone https://github.com/PX4/PX4-Autopilot.git --recursive
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```
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2. Run the **ubuntu.sh** the `--no-sim-tools` (and optionally `--no-nuttx`):
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```sh
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bash ./PX4-Autopilot/Tools/setup/ubuntu.sh --no-sim-tools --no-nuttx
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```
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- 스크립트가 진행되는 동안 모든 프롬프트를 확인합니다.
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3. 완료되면 컴퓨터를 재부팅합니다.
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2. You _may_ need to install the following additional dependencies:
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```sh
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sudo apt-get install protobuf-compiler libeigen3-dev libopencv-dev -y
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```
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3. Follow the [Noetic Installation instructions](http://wiki.ros.org/noetic/Installation/Ubuntu#Installation) (ros-noetic-desktop-full is recommended).
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:::
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:::tab ROS Melodic (Ubuntu 18.04)
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If you're working with ROS "Melodic on Ubuntu 18.04:
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1. Download the [ubuntu_sim_ros_melodic.sh](https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_ros_melodic.sh) script in a bash shell:
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```sh
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wget https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_ros_melodic.sh
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```
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2. Run the script:
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```sh
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bash ubuntu_sim_ros_melodic.sh
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```
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You may need to acknowledge some prompts as the script progresses.
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::: tip
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You don't need to install MAVROS (as shown below), as this is included by the script
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Also note:
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- ROS Melodic is installed with Gazebo (Classic) 9 by default.
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- Your catkin (ROS build system) workspace is created at **~/catkin_ws/**.
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- The script uses instructions from the ROS Wiki "Melodic" [Ubuntu page](http://wiki.ros.org/melodic/Installation/Ubuntu).
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:::
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::::
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## Install MAVROS
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Then MAVROS can be installed either from source or binary.
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개발자는 소스로 설치하는 것이 좋습니다.
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#### 바이너리 설치(Debian/Ubuntu)
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The ROS repository has binary packages for Ubuntu x86, amd64 (x86_64) and armhf (ARMv7).
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Kinetic은 Debian Jessie amd64 및 arm64(ARMv8)도 지원합니다.
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Use `apt-get` for installation, where `${ROS_DISTRO}` below should resolve to `kinetic` or `noetic`, depending on your version of ROS:
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```sh
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sudo apt-get install ros-${ROS_DISTRO}-mavros ros-${ROS_DISTRO}-mavros-extras ros-${ROS_DISTRO}-mavros-msgs
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```
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Then install [GeographicLib](https://geographiclib.sourceforge.io/) datasets by running the `install_geographiclib_datasets.sh` script:
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```sh
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wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
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sudo bash ./install_geographiclib_datasets.sh
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```
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#### 소스 설치
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This installation assumes you have a catkin workspace located at `~/catkin_ws` If you don't create one with:
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```sh
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mkdir -p ~/catkin_ws/src
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cd ~/catkin_ws
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catkin init
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wstool init src
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```
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You will be using the ROS Python tools: _wstool_ (for retrieving sources), _rosinstall_, and _catkin_tools_ (building) for this installation. 다음 명령어를 사용하여 ROS를 설치할 수 있습니다.
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```sh
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sudo apt-get install python-catkin-tools python-rosinstall-generator -y
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```
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:::tip
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While the package can be built using **catkin_make** the preferred method is using **catkin_tools** as it is a more versatile and "friendly" build tool.
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:::
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wstool을 처음 사용하는 경우 다음을 사용하여 소스 공간을 초기화합니다.
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```sh
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$ wstool init ~/catkin_ws/src
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```
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Now you are ready to do the build:
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1. MAVLink를 설치합니다.
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```sh
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# We use the Kinetic reference for all ROS distros as it's not distro-specific and up to date
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rosinstall_generator --rosdistro kinetic mavlink | tee /tmp/mavros.rosinstall
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```
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2. 릴리스 또는 최신 버전을 사용하여 소스에서 MAVROS를 설치합니다.
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- 출시/안정
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```sh
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rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall
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```
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- 최신 소스
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```sh
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rosinstall_generator --upstream-development mavros | tee -a /tmp/mavros.rosinstall
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```
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```sh
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# For fetching all the dependencies into your catkin_ws,
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# just add '--deps' to the above scripts, E.g.:
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# rosinstall_generator --upstream mavros --deps | tee -a /tmp/mavros.rosinstall
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```
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3. Create workspace & deps
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```sh
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wstool merge -t src /tmp/mavros.rosinstall
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wstool update -t src -j4
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rosdep install --from-paths src --ignore-src -y
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```
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4. Install [GeographicLib](https://geographiclib.sourceforge.io/) datasets:
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```sh
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./src/mavros/mavros/scripts/install_geographiclib_datasets.sh
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```
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5. 소스를 빌드합니다.
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```sh
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catkin build
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```
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6. 작업 공간에서 setup.bash 또는 setup.zsh를 사용하는지 확인하십시오.
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```sh
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#Needed or rosrun can't find nodes from this workspace.
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source devel/setup.bash
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```
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In the case of error, there are addition installation and troubleshooting notes in the [mavros repo](https://github.com/mavlink/mavros/tree/master/mavros#installation).
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## MAVROS 예제
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The [MAVROS Offboard Example (C++)](../ros/mavros_offboard_cpp.md), will show you the basics of MAVROS, from reading telemetry, checking the drone state, changing flight modes and controlling the drone.
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:::info
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If you have an example app using the PX4 Autopilot and MAVROS, we can help you get it on our docs.
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:::
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## See Also
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- [mavros ROS Package Summary](http://wiki.ros.org/mavros#mavros.2BAC8-Plugins.sys_status)
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- [mavros source](https://github.com/mavlink/mavros/)
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- [ROS Melodic installation instructions](http://wiki.ros.org/melodic/Installation)
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