ubuntu配置px4编译环境

一、主要参考的内容

px4的开发者手册

https://dev.px4.io/zh/setup/dev_env_linux.html

其中有的shell指令

权限设置

警告：永远不要使用sudo来修复权限问题，否则会带来更多的权限问题，需要重装系统来解决。

把用户添加到用户组　"dialout":

 

sudo usermod -a -G dialout $USER

然后注销后，重新登录，因为重新登录后所做的改变才会有效。

安装

更新包列表，安装下面编译PX4的依赖包。PX4主要支持的系列：

• NuttX based hardware: Pixhawk, Pixfalcon, Pixracer, Crazyflie, Intel® Aero Ready to Fly Drone
• Qualcomm Snapdragon Flight hardware
• Linux-based hardware: Raspberry Pi 2/3, Parrot Bebop
• Host simulation: jMAVSim SITL and Gazebo SITL

提示：安装Ninja Build System可以比make更快进行编译。如果安装了它就会自动选择使用它进行编译。

 

sudo add-apt-repository ppa:george-edison55/cmake-3.x -y
sudo apt-get update
# 必备软件
sudo apt-get install python-argparse git-core wget zip \
    python-empy qtcreator cmake build-essential genromfs -y
# 仿真工具
sudo add-apt-repository ppa:openjdk-r/ppa
sudo apt-get update
sudo apt-get install openjdk-8-jre
sudo apt-get install ant protobuf-compiler libeigen3-dev libopencv-dev openjdk-8-jdk openjdk-8-jre 

树莓派

树莓派开发者应该从下面地址下载树莓派Linux工具链。安装脚本会自动安装交叉编译工具链。如果想要用原生树莓派工具链在树莓派上直接编译，参见这里。

 

git clone https://github.com/pixhawk/rpi_toolchain.git
cd rpi_toolchain
./install_cross.sh

在工具链安装过程中需要输入密码。

如果不想把工具链安装在默认位置/opt/rpi_toolchain，可以执行./install_cross.sh <PATH>向安装脚本传入其它地址。安装脚本会自动配置需要的环境变量。

最后，运行以下命令更新环境变量：

source ~/.profile

Raspberry Pi 2 开发板

以下命令编译生成Raspbian（posix_pi2_release）版本的固件。

cd Firmware
make posix_rpi2_release # for cross-compiler build

"mainapp"可执行文件位于目录build_posix_rpi2_release/src/firmware/posix下。 将其复制到RPi（用你的RPi的IP或主机名替换YOUR_PI，关于如何访问你的RPi，查看介绍)

然后使用以下命令设置你的RPi的IP（或主机名）：

export AUTOPILOT_HOST=192.168.X.X

并上传：

cd Firmware
make posix_rpi_cross upload # for cross-compiler build

然后，通过ssh连接并运行它（以root权限）：

sudo ./px4 px4.config

二、自己的添加和总结

make posix_rpi_cross后出现的问题：

-- CMAKE_MODULE_PATH: /home/myfly2/src/myFirmware/Firmware/cmake
-- Build Type: RelWithDebInfo
-- PX4 VERSION: v1.6.5--g4ccbeb4
-- CONFIG: posix-rpi-cross
-- CMAKE_INSTALL_PREFIX: /usr
-- The CXX compiler identification is unknown
-- The C compiler identification is unknown
-- The ASM compiler identification is unknown
-- Found assembler: arm-linux-gnueabihf-gcc
CMake Error at CMakeLists.txt: (project):
  The CMAKE_CXX_COMPILER:

    arm-linux-gnueabihf-g++

  is not a full path and was not found in the PATH.

  Tell CMake where to find the compiler by setting either the environment
  variable "CXX" or the CMake cache entry CMAKE_CXX_COMPILER to the full path
  to the compiler, or to the compiler name if it is in the PATH.

CMake Error at CMakeLists.txt: (project):
  The CMAKE_C_COMPILER:

    arm-linux-gnueabihf-gcc

  is not a full path and was not found in the PATH.

  Tell CMake where to find the compiler by setting either the environment
  variable "CC" or the CMake cache entry CMAKE_C_COMPILER to the full path to
  the compiler, or to the compiler name if it is in the PATH.

CMake Error at CMakeLists.txt: (project):
  The CMAKE_ASM_COMPILER:

    arm-linux-gnueabihf-gcc

  is not a full path and was not found in the PATH.

  Tell CMake where to find the compiler by setting either the environment
  variable "ASM" or the CMake cache entry CMAKE_ASM_COMPILER to the full path
  to the compiler, or to the compiler name if it is in the PATH.

-- Warning: Did not find file Compiler/-ASM
-- Configuring incomplete, errors occurred!
See also "/home/myfly2/src/myFirmware/Firmware/build_posix_rpi_cross/CMakeFiles/CMakeOutput.log".
See also "/home/myfly2/src/myFirmware/Firmware/build_posix_rpi_cross/CMakeFiles/CMakeError.log".
/bin/sh: : cd: can't cd to /home/myfly2/src/myFirmware/Firmware/build_posix_rpi_cross
Makefile:: recipe for target 'posix_rpi_cross' failed
make: *** [posix_rpi_cross] Error 

解决办法：

修改~/.profile,增加环境：

export RPI_TOOLCHAIN_DIR=/opt/rpi_toolchain/gcc-linaro-arm-linux-gnueabihf-raspbian
export PATH=$RPI_TOOLCHAIN_DIR/bin:$PATH
export AUTOPILOT_HOST=192.168.1.105

然后：

source ~/.profile

继续出现问题2：

-- CMAKE_MODULE_PATH: /home/myfly2/src/myFirmware/Firmware/cmake
-- Build Type: RelWithDebInfo
-- PX4 VERSION: v1.6.5--g4ccbeb4
-- CONFIG: posix-rpi-cross
-- CMAKE_INSTALL_PREFIX: /usr
-- The CXX compiler identification is GNU 4.8.
-- The C compiler identification is GNU 4.8.
-- The ASM compiler identification is GNU
-- Found assembler: /opt/rpi_toolchain/gcc-linaro-arm-linux-gnueabihf-raspbian/bin/arm-linux-gnueabihf-gcc
-- Check for working CXX compiler: /opt/rpi_toolchain/gcc-linaro-arm-linux-gnueabihf-raspbian/bin/arm-linux-gnueabihf-g++
-- Check for working CXX compiler: /opt/rpi_toolchain/gcc-linaro-arm-linux-gnueabihf-raspbian/bin/arm-linux-gnueabihf-g++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Check for working C compiler: /opt/rpi_toolchain/gcc-linaro-arm-linux-gnueabihf-raspbian/bin/arm-linux-gnueabihf-gcc
-- Check for working C compiler: /opt/rpi_toolchain/gcc-linaro-arm-linux-gnueabihf-raspbian/bin/arm-linux-gnueabihf-gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Found PythonInterp: /usr/bin/python (found version "2.7.12")
CMake Error at /usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake: (message):
  couldn't find python module jinja2:

  for debian systems try:         

      sudo apt-get install python-jinja2         

  or for all other OSs/debian:         

      sudo -H pip install jinja2

   (missing:  PY_JINJA2)
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake: (_FPHSA_FAILURE_MESSAGE)
  cmake/common/px4_base.cmake: (find_package_handle_standard_args)
  CMakeLists.txt: (px4_find_python_module)

-- Configuring incomplete, errors occurred!
See also "/home/myfly2/src/myFirmware/Firmware/build_posix_rpi_cross/CMakeFiles/CMakeOutput.log".
/bin/sh: : cd: can't cd to /home/myfly2/src/myFirmware/Firmware/build_posix_rpi_cross
Makefile:: recipe for target 'posix_rpi_cross' failed
make: *** [posix_rpi_cross] Error 

这个问题少了jinja2：

sudo apt-get install python-jinja2