ubuntu配置px4编译环境

142536a

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: v1.6.5-114-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:275 (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:275 (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:275 (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: 1: cd: can't cd to /home/myfly2/src/myFirmware/Firmware/build_posix_rpi_cross
Makefile:158: recipe for target 'posix_rpi_cross' failed
make: *** [posix_rpi_cross] Error 2
　　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: v1.6.5-114-g4ccbeb4
-- CONFIG: posix-rpi-cross
-- CMAKE_INSTALL_PREFIX: /usr
-- The CXX compiler identification is GNU 4.8.3
-- The C compiler identification is GNU 4.8.3
-- 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:148 (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:388 (_FPHSA_FAILURE_MESSAGE)
cmake/common/px4_base.cmake:621 (find_package_handle_standard_args)
CMakeLists.txt:295 (px4_find_python_module)

-- Configuring incomplete, errors occurred!
See also "/home/myfly2/src/myFirmware/Firmware/build_posix_rpi_cross/CMakeFiles/CMakeOutput.log".
/bin/sh: 1: cd: can't cd to /home/myfly2/src/myFirmware/Firmware/build_posix_rpi_cross
Makefile:158: recipe for target 'posix_rpi_cross' failed
make: *** [posix_rpi_cross] Error 2
　　这个问题少了jinja2：



sudo apt-get install python-jinja2