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PX4 Build Bot
209 lines
6.6 KiB
Markdown
209 lines
6.6 KiB
Markdown
# 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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This documentation reflects the "old approach".
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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](https://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](https://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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- 在安装过程中确认并通过所有的提示。
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3. 完成后重新启动计算机。
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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](https://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](https://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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We recommend that developers use the source installation.
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#### 二进制安装 (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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Kinetic also supports Debian Jessie amd64 and arm64 (ARMv8).
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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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./install_geographiclib_datasets.sh
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```
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#### 源码方式安装
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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. While they may have been installed during your installation of ROS you can also install them with:
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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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If this is your first time using wstool you will need to initialize your source space with:
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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. 安装Mavlink
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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. 安装MAVROS最新的版本：
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- 发行版 / 稳定版
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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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- Latest source
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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. 构建源码
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```sh
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catkin build
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```
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6. 确保从工作区中使用 setup. bash 或 setup. zsh。
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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 Examples
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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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## 另见
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- [mavros ROS Package Summary](https://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](https://wiki.ros.org/melodic/Installation)
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