本人飞控专业在读，近段时间在老师的建议下，开始搭建PX4环境配置。因为并没有之前相关环境配置的经验，所以走了不少弯路，在此 感谢我的室友伙伴的一起努力和老师的辛苦指导。
注：本文基于的系统是Ubuntu18.04，在VMware上运行，此两者的安装请各位读者自行参考相关链接。
sudo apt install ninja-build exiftool ninja-build protobuf-compiler libeigen3-dev genromfs xmlstarlet libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev pip2 install pandas jinja2 pyserial cerberus pyulog==0.7.0 numpy toml pyquaternion empy pyyaml
pip3 install packaging numpy empy toml pyyaml jinja2 pyargparse
打开Ubuntu系统的九个点，类似windows系统的开始选项，找到“软件和更新”这个选项卡
点击软件和更新
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654
sudo apt update
sudo apt install ros-melodic-desktop
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt install python-rosdep
sudo rosdep init
出现错误
ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.
cd /etc
sudo gedit hosts
ERROR: default sources list file already exists:
/etc/ros/rosdep/sources.list.d/20-default.list
Please delete if you wish to re-initialize
sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
roscore
出现此环境则为安装成功
此空间为ROS所有，方便后续步骤安装
mkdir -p ~/catkin_ws/src
mkdir -p ~/catkin_ws/scripts
cd catkin_ws/src
catkin_init_workspace
cd ..
catkin_make
sudo apt-get remove gazebo*
sudo apt-get remove libgazebo*
sudo apt-get remove ros-melodic-gazebo* #kinetic noetic对应修改
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
#如果出现deb http://packages.osrfoundation.org/gazebo/ubuntu-stable xenial main表示没问题
wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install gazebo9=9.1*
安装后终端输入gazebo，若能出现gazebo则为安装成功，界面如下
-
sudo apt install ros-melodic-gazebo9-*
sudo apt install ros-melodic-gazebo-*
测试
roscore
rosrun gazebo_ros gazebo
界面如上张图片
sudo apt install ros-melodic-mavros ros-melodic-mavros-extras # for ros-melodic
wget https://gitee.com/robin_shaun/XTDrone/raw/master/sitl_config/mavros/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
#注意，我们安装的ROS环境为ROS1，所以选择melodic方式安装，#后面的内容为注释，只需要运行终端代码即可
注意：由于GitHub网址国内访问太慢，所以 我们采用gitee网站的方式
git clone https://gitee.com/bingobinlw/Firmware.git
这一步下载过后打开Firmware文件夹，勾选显示隐藏文件
找到如图所示选中的文件，双击打开
[submodule "mavlink/include/mavlink/v2.0"]
path = mavlink/include/mavlink/v2.0
url = https://gitee.com/bingobinlw/c_library_v2.git
branch = master
[submodule "src/drivers/uavcan/libuavcan"]
path = src/drivers/uavcan/libuavcan
url = https://gitee.com/bingobinlw/uavcan.git
branch = px4
[submodule "Tools/jMAVSim"]
path = Tools/jMAVSim
url = https://gitee.com/bingobinlw/jMAVSim.git
branch = master
[submodule "Tools/sitl_gazebo"]
path = Tools/sitl_gazebo
url = https://gitee.com/bingobinlw/sitl_gazebo.git
branch = master
[submodule "src/lib/matrix"]
path = src/lib/matrix
url = https://gitee.com/bingobinlw/Matrix.git
branch = master
[submodule "src/lib/ecl"]
path = src/lib/ecl
url = https://gitee.com/bingobinlw/ecl.git
branch = master
[submodule "boards/atlflight/cmake_hexagon"]
path = boards/atlflight/cmake_hexagon
url = https://gitee.com/bingobinlw/cmake_hexagon.git
branch = px4
[submodule "src/drivers/gps/devices"]
path = src/drivers/gps/devices
url = https://gitee.com/bingobinlw/GpsDrivers.git
branch = master
[submodule "src/modules/micrortps_bridge/micro-CDR"]
path = src/modules/micrortps_bridge/micro-CDR
url =https://gitee.com/bingobinlw/micro-CDR.git
branch = px4
[submodule "platforms/nuttx/NuttX/nuttx"]
path = platforms/nuttx/NuttX/nuttx
url = https://gitee.com/bingobinlw/NuttX.git
branch = px4_firmware_nuttx-8.2
[submodule "platforms/nuttx/NuttX/apps"]
path = platforms/nuttx/NuttX/apps
url = https://gitee.com/bingobinlw/NuttX-apps.git
branch = px4_firmware_nuttx-8.2
[submodule "cmake/configs/uavcan_board_ident"]
path = cmake/configs/uavcan_board_ident
url = https://gitee.com/bingobinlw/uavcan_board_ident.git
branch = master
[submodule "platforms/qurt/dspal"]
path = platforms/qurt/dspal
url = https://gitee.com/bingobinlw/dspal.git
将上面代码文件拷贝覆盖选中的文件的内容，并点击保存。
git submodule update --init --recursive
新开一个终端
cd ~/Firmware
bash ./Tools/setup/ubuntu.sh --no-nuttx --no-sim-tools
make px4_sitl_default gazebo
sudo gedit ~/.bashrc
- 将打开的文件在最下面添加以下路径代码，然后保存
- ```
source ~/catkin_ws/devel/setup.bash
source ~/Firmware/Tools/setup_gazebo.bash ~/Firmware/ ~/Firmware/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/Firmware
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/Firmware/Tools/sitl_gazebo
```
- ```
source ~/.bashrc
注意自己的PX4安装包是什么名字，路径配置就填什么，如果自己的px4配置包是PX4_Firmware，就需要将本人的路径代码中的Firmware改成PX4_Firmware
此命令能够使环境变量正确加载
新建终端运行以下命令
cd ~/Firmware
roslaunch px4 mavros_posix_sitl.launch
成功如图所示
并运行以下代码
rostopic echo /mavros/state
此命令是检查mavros和PX4之间的通信是否正确，在终端显示 connected：true表示正确无问题，若显示false，则表示bashrc文件路径配置不正确，需要检查一遍路径。成功如图所示
https://docs.qgroundcontrol.com/en/getting_started/download_and_install.html
注意这个链接需要在Ubuntu系统中打开，并且下载在Ubuntu系统中
根据官网所给出的链接进行安装
打开终端，分别输入以上代码，然后运行
点击蓝色字体QGC进行下载
在下载好的QGC安装包文件夹位置打开终端，运行下一条命令
chomd +x ./QGroundControl.Applmage
最终实现效果如图所示
