PX4-Autopilot/docs/zh/dev_setup/dev_env_mac.md

Mac 上的开发环境

MacOS 是受支持的 PX4 开发平台。 根据本文的指示构建的开发环境可以用编译：

• 基于 NuttX 的硬件 (Pixhawk等)
• Gazebo Classic Simulation

:::tip This setup is supported by the PX4 dev team. To build other targets you will need to use a different OS (or an unsupported development environment). :::

一键安装脚本

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):

echo ulimit -S -n 2048 >> ~/.zshenv

::: info If you don't do this, the build toolchain may report the error: "LD: too many open files"

:::

2. Enforce Python 3 by appending the following lines to ~/.zshenv

# Point pip3 to MacOS system python 3 pip
alias pip3=/usr/bin/pip3

Common Tools

To setup the environment to be able to build for Pixhawk/NuttX hardware (and install the common tools for using simulators):

1. Install Homebrew by following these installation instructions.

2. Run these commands in your shell to install the common tools:

brew tap PX4/px4
brew install px4-dev

3. Install the required Python packages:

# 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

Gazebo Classic 模拟

To setup the environment for Gazebo Classic simulation:

1. Run the following commands in your shell:

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

::: info September 2021: The commands above are a workaround to this bug: PX4-Autopilot#17644. They can be removed once it is fixed (along with this note).

:::

2. To install SITL simulation with Gazebo Classic:

brew install --cask temurin
brew install --cask xquartz
brew install px4-sim-gazebo

3. 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:

git clone https://github.com/PX4/PX4-Autopilot.git --recursive
cd PX4-Autopilot/Tools/setup
sh macos.sh

Gazebo dependencies

Once you have finished setting up the command-line toolchain:

• Install VSCode (if you prefer using an IDE to the command line).

• Install the QGroundControl Daily Build

  :::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.

:::

• Continue to the build instructions.