mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
130 lines
4.2 KiB
Markdown
130 lines
4.2 KiB
Markdown
# 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](../sim_gazebo_classic/index.md)
|
|
|
|
:::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)).
|
|
:::
|
|
|
|
## 一键安装脚本
|
|
|
|
<lite-youtube videoid="tMbMGiMs1cQ" title="Setting up your PX4 development environment on macOS"/>
|
|
|
|
## 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):
|
|
|
|
```sh
|
|
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`
|
|
|
|
```sh
|
|
# 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](https://brew.sh).
|
|
|
|
2. Run these commands in your shell to install the common tools:
|
|
|
|
```sh
|
|
brew tap PX4/px4
|
|
brew install px4-dev
|
|
```
|
|
|
|
3. Install the required Python packages:
|
|
|
|
```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
|
|
```
|
|
|
|
## Gazebo Classic 模拟
|
|
|
|
To setup the environment for [Gazebo Classic](../sim_gazebo_classic/index.md) simulation:
|
|
|
|
1. Run the following commands in your shell:
|
|
|
|
```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
|
|
```
|
|
|
|
::: 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).
|
|
|
|
:::
|
|
|
|
2. To install SITL simulation with Gazebo Classic:
|
|
|
|
```sh
|
|
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:
|
|
|
|
```sh
|
|
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](../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.
|
|
It may also provide access to new PX4 features that are not yet supported in release builds.
|
|
|
|
:::
|
|
|
|
- Continue to the [build instructions](../dev_setup/building_px4.md).
|