ubuntu20.04 安裝PX4 1.13

step1_install_depenences.sh

#!/bin/bash
#install gazebo 11
#install protobuf 3.19.6python3 -m pip install --upgrade pip
python3 -m pip install --upgrade Pillow# 將 empy 的版本調整爲3.3.4
pip3 uninstall empy
pip3 install empy==3.3.4sudo apt-get update
sudo apt-get upgrade
sudo apt-get install aptitude
sudo apt install git

step2_install_gazebo_ros.sh

#!/bin/bash# 雖然已經安裝裏gazebo 11 但是報錯找不到gazeboConfig.cmake 依照網上的建議安裝
sudo apt install ros-$ROS_DISTRO-gazebo*

step3_install_GStreamer1.0.sh

# 需要安裝 GStreamer1.0 
#https://github.com/PX4/PX4-Autopilot/issues/13117sudo apt install libgstreamer1.0-dev
sudo apt install gstreamer1.0-plugins-good
sudo apt install gstreamer1.0-plugins-bad
sudo apt install gstreamer1.0-plugins-ugly

step4_git_clone.sh

#!/bin/bashexport WS_DIR="/home/hao/Documents/wks_third_party"
export GIT_DIR=$WS_DIR/resource_source/PX4/v1_13_3
rm $GIT_DIR
mkdir $GIT_DIR -p
cd $GIT_DIRgit clone https://github.com/PX4/PX4-Autopilot.git --recursive -b v1.13.3

step5_git_version.sh

#!/bin/bashexport WS_DIR="/home/hao/Documents/wks_third_party"
export Autopilot_DIR=$WS_DIR/resource_source/PX4/v1_13_3/PX4-Autopilot
cd $Autopilot_DIRgit status
git branch -r | grep "release"
echo "----------------before check out--------------------------------------------------------"git checkout origin/release/1.13echo "----------------after check out--------------------------------------------------------"git status

step6_config_ubuntu.sh

#!/bin/bashset -o errexit
set -o verbose
export WS_DIR="/home/hao/Documents/wks_third_party"
export Autopilot_DIR=$WS_DIR/resource_source/PX4/v1_13_3/PX4-Autopilotcd $Autopilot_DIR/Tools/setupbash $Autopilot_DIR/Tools/setup/ubuntu.sh --fix-missing

step7_build_gazebo.sh

#!/bin/bashexport WS_DIR="/home/hao/Documents/wks_third_party"
export Autopilot_DIR=$WS_DIR/resource_source/PX4/v1_13_3/PX4-Autopilot
cd $Autopilot_DIRmake px4_sitl_default gazebo

step8_run_with_launch.sh

export WS_DIR="/home/hao/Documents/wks_third_party"
export Autopilot_DIR=$WS_DIR/resource_source/PX4/v1_13_3/PX4-Autopilotsource $Autopilot_DIR/Tools/setup_gazebo.bash $Autopilot_DIR $Autopilot_DIR/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$Autopilot_DIR
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$Autopilot_DIR/Tools/sitl_gazebo
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$Autopilot_DIR/Tools/simulation-ignitionroslaunch px4 mavros_posix_sitl.launch