Drone Programming Ubuntu 24.04

ubuntu 24.04 ardupilot sitl + qgc + ros 环境搭建

ubuntu24.04 ardupilot sitl + qgc + ros 环境搭建

# 版本组合

ROS 2 Jazzy 和 Gazebo Harmonic 能较好匹配, 而Jazzy只提供Ubuntu 24.04版本apt源. 所以想要安装比较新的版本 Jazzy + Harmonic + noble 是最好组合.

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# 安装ardupilot

  1. 参考官网安装依赖 https://ardupilot.org/dev/docs/building-setup-linux.html#building-setup-linux`

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    sudo apt-get update
sudo apt-get install git
git clone --recurse-submodules https://github.com/your-github-userid/ardupilot
cd ardupilot
Tools/environment_install/install-prereqs-ubuntu.sh -y

# Reload the path (log-out and log-in to make it permanent):
. ~/.profile

    这个环境安装脚本在~/.profile文件的最后加了几行, 可以把它们放到.bashrc中或者每次使用ardupilot之前source ~/.profile.

    此时, 需要的话, 已经可以用waf编译ardupilot代码. https://github.com/ArduPilot/ardupilot/blob/master/BUILD.md

  2. 运行sitl. 参考 https://ardupilot.org/dev/docs/setting-up-sitl-on-linux.html

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    cd ardupilot/ArduCopter
sim_vehicle.py --console --map -w

    成功运行sitl

# 安装QGC

参考https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html.

  1. 关掉modemmanager, 安装依赖:

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    sudo usermod -a -G dialout $USER
sudo apt-get remove modemmanager -y
sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y
sudo apt install libfuse2 -y
sudo apt install libxcb-xinerama0 libxkbcommon-x11-0 libxcb-cursor0 -y

  2. 下载QGC AppImage: https://d176tv9ibo4jno.cloudfront.net/latest/QGroundControl.AppImage

  3. 运行:

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    chmod +x ./QGroundControl.AppImage
./QGroundControl.AppImage  (or double click)

    TODO: 把AppImage固定到侧边栏上

    结合sitl: 打开另一个terminal 运行sim_vehicle.py:

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    cd ardupilot/ArduCopter
source ~/.profile
sim_vehicle.py

    QGC自动连上了ardupilot sitl. 可以在QGC上计划飞行,飞一下了.

    在qgc上飞

# 安装Gazebo Harmonic

  1. Gazebo安装, 参考: https://gazebosim.org/docs/harmonic/install_ubuntu

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    sudo apt-get update
sudo apt-get install lsb-release wget gnupg

  2. 下载编译gazebo插件, 参考 https://github.com/ArduPilot/ardupilot_gazebo

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    sudo apt update
sudo apt install libgz-sim8-dev rapidjson-dev

git clone https://github.com/ArduPilot/ardupilot_gazebo.git
cd ardupilot_gazebo

export GZ_VERSION=harmonic
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
make -j4

    根据自己的文件路径设置环境变量. 假设用的是bash:

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    echo 'export GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/ardupilot_gazebo/build:${GZ_SIM_SYSTEM_PLUGIN_PATH}' >> ~/.bashrc
echo 'export GZ_SIM_RESOURCE_PATH=$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:${GZ_SIM_RESOURCE_PATH}' >> ~/.bashrc

  3. 运行 Gazebo

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    gz sim -v4 -r iris_runway.sdf

    这里出错了:

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    Unable to create the rendering window: OGRE EXCEPTION(3:RenderingAPIException): currentGLContext was specified with no current GL context in GLXWindow::create at ./RenderSystems/GL3Plus/src/windowing/GLX/OgreGLXWindow.cpp (line 165)

    是wayland问题, 需要确保Gazebo用了Xwayland, 这里的办法是先把WAYLAND_DISPLAY环境变量删掉再执行命令:

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    WAYLAND_DISPLAY= ; gz sim -v4 -r iris_runway.sdf

    如果有其他错误可参考这里: https://gazebosim.org/docs/fortress/troubleshooting

  4. 运行sitl. 和之前类似, 额外的两个参数: 要使用Gazebo进行ArduPilot仿真, 模型必须包含gazebo-, 并使用 JSON作为模型.

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    cd ardupilot/ArduCopter
source ~/.profile
sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --map --console

    如下图左上角的信息栏出现绿色的字, 尤其是GPS信息,就说明gazebo和sitl连上了. 左上角console窗口已经有内容了

    飞起来:

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    STABILIZE> mode guided
GUIDED> arm throttle
GUIDED> takeoff 5

    (如果飞不起来可以看看这个视频 https://youtu.be/m7hPyJJmWmU?si=09cYLEpaaq52lHhC)