mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
136 lines
4.1 KiB
Markdown
136 lines
4.1 KiB
Markdown
# macOS Development Environment
|
|
|
|
The following instructions set up a PX4 development environment on macOS.
|
|
PX4 빌드에 사용되어 집니다.
|
|
|
|
- Pixhawk와 기타 NuttX 기반 하드웨어
|
|
- [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 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).
|
|
:::
|
|
|
|
## Development Environment Setup
|
|
|
|
### 준비 사항
|
|
|
|
1. **Install Xcode Command Line Tools** — provides `git`, `make`, and the Apple `clang` compiler:
|
|
|
|
```sh
|
|
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
|
|
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).
|
|
|
|
:::
|
|
|
|
### Gazebo Simulation
|
|
|
|
The `--sim-tools` flag installs the `px4-sim` Homebrew formula, which pulls in Gazebo Harmonic.
|
|
|
|
If you skipped `--sim-tools` during initial setup and want to add simulation later:
|
|
|
|
```sh
|
|
brew tap PX4/px4
|
|
brew install px4-sim
|
|
```
|
|
|
|
:::info
|
|
Gazebo requires **XQuartz** for display on macOS.
|
|
If you don't already have it installed:
|
|
|
|
```sh
|
|
brew install --cask xquartz
|
|
```
|
|
|
|
You may need to log out and back in after installing XQuartz.
|
|
:::
|
|
|
|
### Verify Installation
|
|
|
|
After installation, verify the key tools are available:
|
|
|
|
```sh
|
|
# NuttX cross-compiler (from arm-gcc-bin@13)
|
|
arm-none-eabi-gcc --version
|
|
|
|
# Build tools
|
|
cmake --version
|
|
ninja --version
|
|
|
|
# Gazebo (if --sim-tools was used)
|
|
gz sim --versions
|
|
```
|
|
|
|
Quick smoke test — build and run a simulation target:
|
|
|
|
```sh
|
|
make px4_sitl gz_x500
|
|
```
|
|
|
|
If everything is set up correctly, this will build PX4 SITL and launch a Gazebo simulation with the x500 quadcopter.
|
|
|
|
## 다음 단계
|
|
|
|
명령줄 도구 모음 설정후, 다음을 수행합니다.
|
|
|
|
- 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
|
|
The _daily build_ includes development tools that are hidden in release builds.
|
|
또한, 릴리스 빌드에서 아직 지원되지 않는 새로운 PX4 기능에 대한 액세스를 제공할 수도 있습니다.
|
|
|
|
:::
|
|
|
|
- Continue to the [build instructions](../dev_setup/building_px4.md).
|