Ubuntu1804下的ROS与PX4无人机仿真平台基础配置

Ubuntu1804下的ROS与PX4无人机仿真平台基础配置

参考资料：

https://www.yuque.com/xtdrone/manual_cn/basic_config_1.11

本文主要是对搭建肖坤的XTDrone项目过程的一个总结，同时记录过程中遇到一些问题与心得，如有侵权请联系删除

依赖安装

sudo apt install -y ninja-build exiftool python-argparse python-empy python-toml python-numpy python-yaml python-dev python-pip ninja-build protobuf-compiler libeigen3-dev genromfs xmlstarlet libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev

pip2 install pandas jinja2 pyserial cerberus pyulog numpy toml pyquaternion  -i https://pypi.tuna.tsinghua.edu.cn/simple
pip3 install packaging numpy empy toml pyyaml jinja2 -i https://pypi.tuna.tsinghua.edu.cn/simple

• 可能有个别依赖(如pyulog)安装不上，可以先不一起装后续再单独安装

• 注意PX4和ROS均不能使用Anaconda，如果有安装务必gedit ~/.bashrc把相关代码注释掉

ROS安装

• 安装详见ROS官方文档http://wiki.ros.org/Installation/Ubuntu

• ROS-Melodic可以选择desktop-full以完全安装，但是这里建议仅安装desktop，其余gazebo等相关库留着后续单独安装

1. 配置Ubuntu存储库

   在software&Update中将几个框都勾选了

2. Setup your sources. list (设置以接受package.ros.org中的软件)

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

3. Setup your keys (设置key)

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

4. Installation

sudo apt update
sudo apt install ros-melodic-desktop

5. Environment setup

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

6. Dependencies for building packages (安装依赖)

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

7. Initialize rosdep

sudo rosdep init
rosdep update

​ 这里更新时可能一直链接不上，根据如下操作：

#打开hosts文件
sudo gedit /etc/hosts
#在文件末尾添加
151.101.84.133  raw.githubusercontent.com
#保存后退出再尝试

​ 反复执行rosdep update命令即可，实在不行可以连手机热点会更有效

​ 安装后启动ROS看到一大串输出说明安装成功:

roscore

​ 新建工作空间，除去PX4仿真环境启动外，其余ROS相关工程在此工作空间下管理即可：

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin_make
source devel/setup.bash

Gazebo安装

• 安装详见gazebo官网
• 选用Alternative installation: step-by-step方式安装最新版gazebo9，不要安装11

1. 设置以接受来自packages.osrfoundation.org的软件

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

$ cat /etc/apt/sources.list.d/gazebo-stable.list
#出现deb http://packages.osrfoundation.org/gazebo/ubuntu-stable xenial main说明没问题

2. Setup keys

wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update

3. 安装gazebo

sudo apt-get install gazebo9

安装完后在终端输入gazebo打开gazebo说明安装成功

4. Gazebo本身是独立于ROS的，还需安装ROS的插件

sudo apt install ros-melodic-gazebo-*

5. Gazebo有很多开源模型models.zip,注册登陆后即可下载，下载后解压至~/.gazebo目录中（隐藏文件夹，Ctrl+H可看到）

Mavros安装

sudo apt install ros-melodic-mavros ros-melodic-mavros-extras     # for ros-melodic
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
sudo chmod a+x ./install_geographiclib_datasets.sh
sudo ./install_geographiclib_datasets.sh #这步需要装一段时间,请耐心等待PX4配置

PX4配置

以下给出推荐配置，更多配置详见PX4仿真文档

• github

git clone https://github.com/PX4/PX4-Autopilot.git
mv PX4-Autopilot PX4_Firmware
cd PX4_Firmware
git checkout -b xtdrone/dev v1.11.0-beta1
git submodule update --init --recursive
make px4_sitl_default gazebo

由于国内github下载速度慢，XTDrone作者提供了gitee下载

• gitee

git clone https://gitee.com/robin_shaun/PX4_Firmware
cd PX4_Firmware
git checkout -b xtdrone/dev v1.11.0-beta1

从gitee下载更新submodule前，需要更新.gitmodules (PX4_Firmware文件夹中Ctrl+h查看隐藏文件)

[submodule "mavlink/include/mavlink/v2.0"]
	path = mavlink/include/mavlink/v2.0
	url = https://gitee.com/robin_shaun/c_library_v2.git
	branch = master
[submodule "src/drivers/uavcan/libuavcan"]
	path = src/drivers/uavcan/libuavcan
	url = https://gitee.com/robin_shaun/uavcan.git
	branch = px4
[submodule "Tools/jMAVSim"]
	path = Tools/jMAVSim
	url = https://gitee.com/robin_shaun/jMAVSim.git
	branch = master
[submodule "Tools/sitl_gazebo"]
	path = Tools/sitl_gazebo
	url = https://gitee.com/robin_shaun/sitl_gazebo.git
	branch = master
[submodule "src/lib/matrix"]
	path = src/lib/matrix
	url = https://gitee.com/robin_shaun/Matrix.git
	branch = master
[submodule "src/lib/ecl"]
	path = src/lib/ecl
	url = https://gitee.com/robin_shaun/ecl.git
	branch = master
[submodule "boards/atlflight/cmake_hexagon"]
	path = boards/atlflight/cmake_hexagon
	url = https://gitee.com/robin_shaun/cmake_hexagon.git
	branch = px4
[submodule "src/drivers/gps/devices"]
	path = src/drivers/gps/devices
	url = https://gitee.com/robin_shaun/GpsDrivers.git
	branch = master
[submodule "src/modules/micrortps_bridge/micro-CDR"]
	path = src/modules/micrortps_bridge/micro-CDR
	url = https://gitee.com/robin_shaun/micro-CDR.git
	branch = px4
[submodule "platforms/nuttx/NuttX/nuttx"]
	path = platforms/nuttx/NuttX/nuttx
	url = https://gitee.com/robin_shaun/NuttX.git
	branch = px4_firmware_nuttx-9.1.0+
[submodule "platforms/nuttx/NuttX/apps"]
	path = platforms/nuttx/NuttX/apps
	url = https://gitee.com/robin_shaun/NuttX-apps.git
	branch = px4_firmware_nuttx-9.1.0+
[submodule "platforms/qurt/dspal"]
	path = platforms/qurt/dspal
	url = https://gitee.com/robin_shaun/dspal.git
[submodule "Tools/flightgear_bridge"]
	path = Tools/flightgear_bridge
	url = https://gitee.com/robin_shaun/PX4-FlightGear-Bridge.git
	branch = master 
[submodule "Tools/jsbsim_bridge"]
	path = Tools/jsbsim_bridge
	url = https://gitee.com/robin_shaun/px4-jsbsim-bridge.git
[submodule "src/examples/gyro_fft/CMSIS_5"]
	path = src/examples/gyro_fft/CMSIS_5
	url = https://gitee.com/mirrors/CMSIS_5

执行：

git submodule update --init --recursive

更改子模块下的submodule:

cd ~/PX4_Firmware/src/drivers/uavcan/libuavcan
gedit .gitmodules

修改：

[submodule "dsdl"]
	path = dsdl
	url = https://gitee.com/robin_shaun/dsdl
	branch = legacy-v0
[submodule "libuavcan/dsdl_compiler/pyuavcan"]
	path = libuavcan/dsdl_compiler/pyuavcan
	url = https://gitee.com/robin_shaun/pyuavcan
[submodule "libuavcan_drivers/kinetis"]
	path = libuavcan_drivers/kinetis
	url = https://gitee.com/robin_shaun/libuavcan_kinetis.git

git submodule update --init --recursive

cd ~/PX4_Firmware/Tools/jMAVSim
gedit .gitmodules

修改：

[submodule "jMAVlib"]
	path = jMAVlib
	url = https://gitee.com/robin_shaun/jMAVlib
	branch = master

git submodule update --init --recursive

cd ~/PX4_Firmware/Tools/sitl_gazebo
gedit .gitmodules

修改：

[submodule "external/OpticalFlow"]
	path = external/OpticalFlow
	url = https://gitee.com/robin_shaun/OpticalFlow

git submodule update --init --recursive

cd ~/PX4_Firmware/platforms/qurt/dspal
gedit .gitmodules

修改：

[submodule "cmake_hexagon"]
	path = cmake_hexagon
	url = https://gitee.com/robin_shaun/cmake_hexagon

git submodule update --init --recursive

cd ~/PX4_Firmware/src/drivers/uavcan/libuavcan/libuavcan/dsdl_compiler/pyuavcan
gedit .gitmodules

修改：

[submodule "dsdl"]
	path = dsdl
	url = https://gitee.com/robin_shaun/dsdl

git submodule update --init --recursive

cd ~/PX4_Firmware/Tools/sitl_gazebo/external/OpticalFlow
gedit .gitmodules

修改：

[submodule "external/klt_feature_tracker"]
	path = external/klt_feature_tracker
	url = https://gitee.com/robin_shaun/klt_feature_tracker

git submodule update --init --recursive

cd ~/PX4_Firmware
make px4_sitl_default gazebo

打开一个新的终端，修改~/.bashrc,末尾加入以下代码，注意路径匹配，前两个source顺序不能换：

source ~/catkin_ws/devel/setup.bash
source ~/PX4_Firmware/Tools/setup_gazebo.bash ~/PX4_Firmware/ ~/PX4_Firmware/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4_Firmware
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4_Firmware/Tools/sitl_gazebo

再运行：

source ~/.bashrc

然后执行以下命令，会打开Gazebo，会看到一个小无人机模型：

cd ~/PX4_Firmware
roslaunch px4 mavros_posix_sitl.launch

运行：

rostopic echo /mavros/state

若connected: True，则说明MAVROS与SITL通信成功。如果是false，一般是因为.bashrc里的路径写的不对，请仔细检查。

然后点击安装链接，安装地面站QGroundControl。

XTDrone源码下载

git clone https://gitee.com/robin_shaun/XTDrone.git
cd XTDrone
git submodule update --init --recursive
cp sensing/gimbal/gazebo_gimbal_controller_plugin.cpp ~/PX4_Firmware/Tools/sitl_gazebo/src/
cp sitl_config/init.d-posix/rcS ~/PX4_Firmware/ROMFS/px4fmu_common/init.d-posix/
cp sitl_config/worlds/* ~/PX4_Firmware/Tools/sitl_gazebo/worlds/
cp -r sitl_config/models/* ~/PX4_Firmware/Tools/sitl_gazebo/models/ 
rm -r ~/.gazebo/models/stereo_camera/ #删除原有的双目相机模型
cp sitl_config/launch/* ~/PX4_Firmware/launch/

因为Gazebo寻找模型的顺序，是先在.gazebo/models/下寻找，然后在其他路径寻找，所以在往PX4 SITL复制models时，要注意.gazebo/models/下有没有同名文件（比如.gazebo/models/下默认有stereo_camera），有的话要么将该同名文件删去，要么替换该同名文件。

由于修改了PX4 sitl_gazebo中的gazebo_gimbal_controller_plugin.cpp（源代码不能控制多无人机的云台），要再编译一次:

cd ~/PX4_Firmware
make px4_sitl_default gazebo

用键盘控制无人机飞行

打开一个终端运行：

cd ~/PX4_Firmware
roslaunch px4 indoor1.launch

启动Gazebo后，打开另一个终端运行：

cd ~/XTDrone/communication/
python multirotor_communication.py iris 0 #建立与无人机模型iris0的链接

建立通信后，打开另一个终端运行：

cd ~/XTDrone/control/keyboard
python multirotor_keyboard_control.py iris 1 vel #iris代表机型，1代表飞机的个数，vel表示速度控制模式

此时便可通过键盘控制一架iris，至此，仿真平台基础配置完成！祝贺您完成了第一步！