Ubuntu2020.04+QGC+PX4+Gazebo

1.QGC编译
1.1安装依赖

sudo usermod -a -G dialout $USER
sudo apt-get remove modemmanager -y
sudo apt install gcc g++ make cmake git
sudo apt install speech-dispatcher libudev-dev libsdl2-dev patchelf build-essential curl

1.2下载代码

git clone https://github.com/mavlink/qgroundcontrol.git
cd qgroundcontrol/
git checkout Stable_V3.4 # 切换分支
git submodule update --init --recursive   # 更新下载子模块

更新子目录

git submodule update

1.3安装QT
编译Qgc3.4使用Qt5.12安装包直接安装，不需要在线安装解决网络问题，也不需要编译QT源码解决许可证问题；
1.4编译
qt打开QGC的*.pro文件，点击编译即可；
2.PX4编译
2.1安装依赖

sudo apt install ninja-build exiftool ninja-build protobuf-compiler libeigen3-dev genromfs xmlstarlet libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev python3-pip gawk

pip3 install pandas jinja2 pyserial cerberus pyulog==0.7.0 numpy toml pyquaternion empy pyyaml 
pip3 install packaging numpy empy toml pyyaml jinja2 pyargparse kconfiglib jsonschema future

2.2PX4安装
2.1下载PX4

git clone https://github.com/PX4/PX4-Autopilot.git --recursive
bash ./PX4-Autopilot/Tools/setup/ubuntu.sh

bash ./PX4-Autopilot/Tools/setup/ubuntu.sh --fix-missing

2.2编译PX4

make px4_sitl_default gazebo

2.3环境变量设置

source ~/PX4-Autopilot/Tools/simulation/gazebo-classic/setup_gazebo.bash ~/qx/PX4-Autopilot ~/qx/PX4-Autopilot/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/qx/PX4-Autopilot
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/qx/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic

source ~/.bashrc

2.4版本查看

cd ~/PX4-Autopilot/ # 根据自己文件夹所在目录来
git describe --tags

3安装Gazebo
3.1先安装MAVROS
大概率安装不起，则进行下一步。

sudo apt-get install ros-noetic-mavros ros-noetic-mavros-extras 
sudo -E ./opt/ros/noetic/lib/mavros/install_geographiclib_datasets.sh

3.2添加 软件源sources.list

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

添加密钥

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

更新包

sudo apt update

再安装

sudo apt-get install ros-noetic-mavros ros-noetic-mavros-extras 
sudo -E ./opt/ros/noetic/lib/mavros/install_geographiclib_datasets.sh

配置环境变量，注意自己的安装路径和环境变量的顺序否则会报错；

export ROS_MASTER_URI=http://127.0.0.1:11311
export ROS_IP=127.0.0.1
source /opt/ros/noetic/setup.bash
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/opt/ros/noetic
source /home/xwc/qx/PX4-Autopilot/Tools/simulation/gazebo-classic/setup_gazebo.bash /home/xwc/qx/PX4-Autopilot /home/xwc/qx/PX4-Autopilot/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/xwc/qx/PX4-Autopilot
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/xwc/qx/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic

4.运行程序
先运行qgc,在运行Gazebo。

roslaunch px4 mavros_posix_sitl.launch

终端输入 commander takeoff ，可以看到无人机起飞
终端输入 commander land ， 可以看到无人机降落