mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
[Docs] macOS Dev environment installation (#25204)
* Initial changes * index fix * gz index fix2 * gz index fix 3 * updates * Run prettier * zsh env removed gz classic * Corrections 2 * Cleanups * Update docs/en/dev_setup/dev_env_mac.md * Apply suggestions from code review * Minor subedit and prettier * small correction * cleanups gz harmonic brew formula * fix(macos.sh): invert px4-sim install condition for --sim-tools The condition checked if px4-sim WAS installed before running brew install, meaning it would never install on a fresh system. Add the missing negation so it installs when NOT already present. Signed-off-by: Ramon Roche <mrpollo@gmail.com> * docs: rewrite macOS dev environment setup guide - Add Xcode Command Line Tools as prerequisite - Default to ~/.zshrc (macOS default since Catalina) - Explain why ulimit change is needed and why in startup file - Add reminder to open new terminal after shell config changes - Remove broken pip3 alias workaround - Split git clone into clone + submodule update (canonical form) - Recommend --sim-tools flag since first build uses gz_x500 - Document what macos.sh installs and its --reinstall flag - Clarify Gazebo comes from --sim-tools / px4-sim formula - Add XQuartz requirement for Gazebo display - Add verification section with key tool checks and smoke test - Remove outdated video guide comment block Signed-off-by: Ramon Roche <mrpollo@gmail.com> * conventions --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Hamish Willee <hamishwillee@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Farhang
GitHub
parent
2ebfd40bba
commit
eafb6c396b
@ -74,7 +74,7 @@ python3 -m pip install --user -r ${DIR}/requirements.txt
|
||||
|
||||
# Optional, but recommended additional simulation tools:
|
||||
if [[ $INSTALL_SIM == "--sim-tools" ]]; then
|
||||
if brew ls --versions px4-sim > /dev/null; then
|
||||
if ! brew ls --versions px4-sim > /dev/null; then
|
||||
brew install px4-sim
|
||||
elif [[ $REINSTALL_FORMULAS == "--reinstall" ]]; then
|
||||
brew reinstall px4-sim
|
||||
|
||||
@ -1,111 +1,119 @@
|
||||
# macOS Development Environment
|
||||
|
||||
The following instructions set up a PX4 development environment for macOS.
|
||||
The following instructions set up a PX4 development environment on macOS.
|
||||
This environment can be used to build PX4 for:
|
||||
|
||||
- Pixhawk and other NuttX-based hardware
|
||||
- [Gazebo Classic Simulation](../sim_gazebo_classic/index.md)
|
||||
- [Gazebo Simulation](../sim_gazebo_gz/index.md) (Gazebo Harmonic)
|
||||
|
||||
It works on both Intel and Apple Silicon Macs.
|
||||
|
||||
:::tip
|
||||
This setup is supported by the PX4 dev team.
|
||||
To build other targets you will need to use a [different OS](../dev_setup/dev_env.md#supported-targets) (or an [unsupported development environment](../advanced/community_supported_dev_env.md)).
|
||||
To build for [other targets](../dev_setup/dev_env.md#supported-targets) you will need to use a [different OS](../dev_setup/dev_env.md#supported-targets) or an [unsupported development environment](../advanced/community_supported_dev_env.md).
|
||||
:::
|
||||
|
||||
## Video Guide
|
||||
## Development Environment Setup
|
||||
|
||||
<lite-youtube videoid="tMbMGiMs1cQ" title="Setting up your PX4 development environment on macOS"/>
|
||||
### Prerequisites
|
||||
|
||||
## Base Setup
|
||||
|
||||
The "base" macOS setup installs the tools needed for building firmware, and includes the common tools that will be needed for installing/using the simulators.
|
||||
|
||||
### Environment Setup
|
||||
|
||||
:::details Apple Silicon MacBook users!
|
||||
If you have an Apple M1, M2 etc. MacBook, make sure to run the terminal as x86 by setting up an x86 terminal:
|
||||
|
||||
1. Locate the Terminal application within the Utilities folder (**Finder > Go menu > Utilities**)
|
||||
2. Select _Terminal.app_ and right-click on it, then choose **Duplicate**.
|
||||
3. Rename the duplicated Terminal app, e.g. to _x86 Terminal_
|
||||
4. Now select the renamed _x86 Terminal_ app and right-click and choose \*_Get Info_
|
||||
5. Check the box for **Open using Rosetta**, then close the window
|
||||
6. Run the _x86 Terminal_ as usual, which will fully support the current PX4 toolchain
|
||||
:::
|
||||
|
||||
First set up the environment
|
||||
|
||||
1. Enable more open files by appending the following line to the `~/.zshenv` file (creating it if necessary):
|
||||
1. **Install Xcode Command Line Tools** — provides `git`, `make`, and the Apple `clang` compiler:
|
||||
|
||||
```sh
|
||||
echo ulimit -S -n 2048 >> ~/.zshenv
|
||||
xcode-select --install
|
||||
```
|
||||
|
||||
2. **Install Homebrew** by following the [installation instructions](https://brew.sh).
|
||||
|
||||
3. **Increase the open-file limit.** The PX4 build opens many files simultaneously and the macOS default limit (256) is too low — you may see `"LD: too many open files"` errors without this.
|
||||
|
||||
Add the following line to your shell startup file so it applies to every new terminal session.
|
||||
macOS defaults to **zsh** since Catalina, so add it to `~/.zshrc` (use `~/.bashrc` if you use bash):
|
||||
|
||||
```sh
|
||||
echo "ulimit -S -n 2048" >> ~/.zshrc
|
||||
```
|
||||
|
||||
Then **open a new terminal** (or run `source ~/.zshrc`) for the change to take effect.
|
||||
|
||||
4. **Ensure Python 3 is available.** Some PX4 build scripts require `python3` and `pip3` to be in your `PATH`. The Xcode Command Line Tools include Python 3 by default.
|
||||
|
||||
:::tip
|
||||
If you need to install or manage a different Python version, we recommend [pyenv](https://github.com/pyenv/pyenv), which lets you set global and per-directory Python versions.
|
||||
:::
|
||||
|
||||
### Install Development Tools
|
||||
|
||||
1. **Download PX4 Source Code:**
|
||||
|
||||
```sh
|
||||
git clone https://github.com/PX4/PX4-Autopilot.git
|
||||
cd PX4-Autopilot
|
||||
git submodule update --init --recursive --force
|
||||
```
|
||||
|
||||
2. **Install development environment libraries** from the [macos.sh](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/setup/macos.sh) helper script:
|
||||
|
||||
```sh
|
||||
./Tools/setup/macos.sh --sim-tools
|
||||
```
|
||||
|
||||
This installs:
|
||||
- **`px4-dev`** — ARM cross-compiler (`arm-gcc-bin@13`), `cmake`, `ninja`, `ccache`, and other build tools
|
||||
- **Python packages** from `requirements.txt`
|
||||
- **`px4-sim`** (via `--sim-tools`) — Gazebo Harmonic simulation (`gz-harmonic`) and related tools
|
||||
|
||||
::: info
|
||||
If you don't do this, the build toolchain may report the error: `"LD: too many open files"`
|
||||
Omit `--sim-tools` if you only need to build for NuttX hardware and don't need simulation.
|
||||
|
||||
Use `--reinstall` to force reinstallation of all Homebrew formulas (useful if something is broken).
|
||||
:::
|
||||
|
||||
1. Enforce Python 3 by appending the following lines to `~/.zshenv`
|
||||
### Gazebo Simulation
|
||||
|
||||
```sh
|
||||
# Point pip3 to macOS system python 3 pip
|
||||
alias pip3=/usr/bin/pip3
|
||||
```
|
||||
The `--sim-tools` flag installs the `px4-sim` Homebrew formula, which pulls in Gazebo Harmonic.
|
||||
|
||||
### Common Tools
|
||||
If you skipped `--sim-tools` during initial setup and want to add simulation later:
|
||||
|
||||
To setup the environment to be able to build for Pixhawk/NuttX hardware (and install the common tools for using simulators):
|
||||
```sh
|
||||
brew tap PX4/px4
|
||||
brew install px4-sim
|
||||
```
|
||||
|
||||
1. Install Homebrew by following these [installation instructions](https://brew.sh).
|
||||
1. Run these commands in your shell to install the common tools:
|
||||
::: info
|
||||
Gazebo requires **XQuartz** for display on macOS.
|
||||
If you don't already have it installed:
|
||||
|
||||
```sh
|
||||
brew tap PX4/px4
|
||||
brew install px4-dev
|
||||
```
|
||||
```sh
|
||||
brew install --cask xquartz
|
||||
```
|
||||
|
||||
1. Install the required Python packages:
|
||||
You may need to log out and back in after installing XQuartz.
|
||||
:::
|
||||
|
||||
```sh
|
||||
# install required packages using pip3
|
||||
python3 -m pip install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging kconfiglib future jsonschema
|
||||
# if this fails with a permissions error, your Python install is in a system path - use this command instead:
|
||||
sudo -H python3 -m pip install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging kconfiglib future jsonschema
|
||||
```
|
||||
### Verify Installation
|
||||
|
||||
## Gazebo Classic Simulation
|
||||
After installation, verify the key tools are available:
|
||||
|
||||
To setup the environment for [Gazebo Classic](../sim_gazebo_classic/index.md) simulation:
|
||||
```sh
|
||||
# NuttX cross-compiler (from arm-gcc-bin@13)
|
||||
arm-none-eabi-gcc --version
|
||||
|
||||
1. Run the following commands in your shell:
|
||||
# Build tools
|
||||
cmake --version
|
||||
ninja --version
|
||||
|
||||
```sh
|
||||
brew unlink tbb
|
||||
sed -i.bak '/disable! date:/s/^/ /; /disable! date:/s/./#/3' $(brew --prefix)/Library/Taps/homebrew/homebrew-core/Formula/tbb@2020.rb
|
||||
brew install tbb@2020
|
||||
brew link tbb@2020
|
||||
```
|
||||
# Gazebo (if --sim-tools was used)
|
||||
gz sim --versions
|
||||
```
|
||||
|
||||
::: info
|
||||
September 2021: The commands above are a workaround to this bug: [PX4-Autopilot#17644](https://github.com/PX4/PX4-Autopilot/issues/17644).
|
||||
They can be removed once it is fixed (along with this note).
|
||||
:::
|
||||
Quick smoke test — build and run a simulation target:
|
||||
|
||||
1. To install SITL simulation with Gazebo Classic:
|
||||
```sh
|
||||
make px4_sitl gz_x500
|
||||
```
|
||||
|
||||
```sh
|
||||
brew install --cask temurin
|
||||
brew install --cask xquartz
|
||||
brew install px4-sim-gazebo
|
||||
```
|
||||
|
||||
1. Run the macOS setup script: `PX4-Autopilot/Tools/setup/macos.sh`
|
||||
The easiest way to do this is to clone the PX4 source, and then run the script from the directory, as shown:
|
||||
|
||||
```sh
|
||||
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
|
||||
cd PX4-Autopilot/Tools/setup
|
||||
sh macos.sh
|
||||
```
|
||||
If everything is set up correctly, this will build PX4 SITL and launch a Gazebo simulation with the x500 quadcopter.
|
||||
|
||||
## Next Steps
|
||||
|
||||
@ -114,7 +122,7 @@ Once you have finished setting up the command-line toolchain:
|
||||
- Install [VSCode](../dev_setup/vscode.md) (if you prefer using an IDE to the command line).
|
||||
- Install the [QGroundControl Daily Build](../dev_setup/qgc_daily_build.md)
|
||||
|
||||
:::tip
|
||||
::: tip
|
||||
The _daily build_ includes development tools that are hidden in release builds.
|
||||
It may also provide access to new PX4 features that are not yet supported in release builds.
|
||||
:::
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user