ROS/MAVROS安装指南
MAVROS
mavros is a ROS (1) package that enables MAVLink extendable communication between computers running ROS (1) for any MAVLink enabled autopilot, ground station, or peripheral. MAVROS is the "official" supported bridge between ROS (1) and the MAVLink protocol.
While MAVROS can be used to communicate with any MAVLink-enabled autopilot, this documentation explains how to set up communication between the PX4 Autopilot and a ROS (1) enabled companion computer.
The easiest way to setup PX4 simulation with ROS on Ubuntu Linux is to use the standard installation script that can be found at Development Environment on Linux > Gazebo with ROS.
ROS 代码库有针对 Ubuntu x86、amd64 (x86_64) 和 armhf (ARMv7) 的二进制安装包。 Kinetic 同样支持 Debian Jessie amd64 和 arm64(ARMv8)。
warning Note The PX4 development team recommend that all users upgrade to ROS 2. This documentation reflects the "old approach". :::
安装
Installation
MAVROS can be installed either from source or binary. We recommend that developers use the source installation.
These instructions are a simplified version of the official installation guide. They cover the ROS Melodic release.
二进制安装 (Debian/Ubuntu)
The ROS repository has binary packages for Ubuntu x86, amd64 (x86_64) and armhf (ARMv7). Kinetic also supports Debian Jessie amd64 and arm64 (ARMv8).
如果这是你第一次使用wstool你需要初始化你的代码文件夹。
Then install GeographicLib datasets by running the install_geographiclib_datasets.sh
script:
源码方式安装
This installation assumes you have a catkin workspace located at ~/catkin_ws
If you don't create one with:
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:
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.
If this is your first time using wstool you will need to initialize your source space with:
Now you are ready to do the build
安装Mavlink
安装MAVROS最新的版本:
发行版 / 稳定版
Latest source
For fetching all the dependencies into your catkin_ws,
just add '--deps' to the above scripts, E.g.:
rosinstall_generator --upstream mavros --deps | tee -a /tmp/mavros.rosinstall
创建工作区 & 安装依赖
wstool update -t src -j4 rosdep install --from-paths src --ignore-src -y
./src/mavros/mavros/scripts/install_geographiclib_datasets.sh
catkin build
#Needed or rosrun can't find nodes from this workspace. source devel/setup.bash source devel/setup.bash
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