ubuntu18.04安装PX4仿真缺省情况下，安装了ROS-melodic和相应的gazebo9
进程参考链接：65https://www.free sion.com/article/42811010840 /
https://www.guyuehome.com/7672
3359 docs.qgroundcontrol.com/master/en /
https://docs.px4.io/master/en/
1 .安装由sudoaptinstall-yninja-buildexiftoolpython-arg parsepython-empy python-toml python-python pip installpandasJin ja2py serialCerberuspy _ log pyquaternionsudoapt-getinstallllibgstreamer-plugins 可从sudoaptinstallros-melodic-gazebo-ROS-pkgs下载https://github.com/osrf/gazebo _ models~/.gazebo/modebo
3.MAVROS安装1 .使用apt安装sudo apt-getinstallros-melodic-MAV ROS-melodic-MAV ROS-extras wget 3359 raw.github user conter install _ geographic lib _ datasets.shsudochmodax./install _ geographic lib _ datasets.sh./install在第一步中找到软件包
sudo gedit /etc/apt/sources.list可查阅debhttp://cz.archive.Ubuntu.com/ubuntutrustymainuniversedeb 3358 archive.ubuntutrustymainuniversedeb 358 archive.Ubuntu ubionicmainmultiversterestrictedunicted com/Ubuntu bionic-securitymainmultiverserestricteduniversedeb http://archive.Ubuntu.com/Ubuntu bionic-updatesmainmultive
在sudo/opt/ROS/melodic/lib/MAV ROS/install _ geographic lib _ datasets.sh2.MAV ROS的apt安装方式中，随后在测试通信中如下ROS topic _ 5927 _ 1502794795953 ] wants topic/MAV ROS/statetohavedatatype/m D5 sum [ MAV ROS _ MAV ROS ] 9e3d 873 FAE 342 c 8f 48
sdoapt-getremoveros-melodic-mavrosros-melodic-MAV ROS-extras然后使用官网的源代码方式安装稳定版即可
3359 dev.px4.io/v1.9.0/en/ROS/MAV ROS _ installation.html
4.PX4配置git clone https://github.com/px4/firmwaremvfirmwarepx4_ firmware cdpx4_ firmwaregitcheckout-bxt drone/dev 1.110
CD px4 _ firmwarebashbash./tools/setup/Ubuntu.sh-- no-nut tx-- no-sim-tools5.编译make px4 _ sitl _ defaup
编译后，自动运行并关闭gazebo接口。
6 .注意环境变量具有source覆盖的功能，尽量放在后面
sudo gedit~~.bashrc source~/px4 _ firmware/tools/setup _ gazebo.bash~/px4 _ firmware//px4 _ firmware px4 _ sitl _ defaultexportros _ package _ path=$ ROS _ package _ path 3360~/px4 _ firmwareexportros _ package/禁用sitl_gazebo#联机模型搜索可以防止上次编译的最后一个错误无法从站点分析模型。 但是，此错误不影响任何使用，因此您可以在终端上运行此语句，而无需添加export gazebo _ model _ database _ uri=' '8.通信测试。
CD (/px4 _ firmwareroslaunchpx4MAV ROS _ POSIX _ sitl.launch将进一步开始运行。
如果未报告错误且发生了连接： true，则rostopic echo /mavros/state是正确的。
如果遇到话题不一致的版本错误(以下)，请返回步骤3，使用第二种源代码编译方法安装mavros
client [/ROS topic _ 5927 _ 1502794795953 ] wants topic/MAV ROS/statetohavedatatype/m D5 sum [ MAV ROS _ msgs/state/state ] 63 d9a 29 b6Abd9E0 beeba 06109556 d 062 ].dropping connection .进程死亡时出现错误(
[ gazebo-3 ] processhasdied [ PID 9348，exit code 134， cmd/opt/ROS/melodic/lib/gazebo _ ROS/gz server-eode/home/XXX/px4 _ firmware/tools/sitl _ gazebo/wod Gazebo-3.log] .关闭后运行killall gzserver命令，再次启动launch，如果仍然不行，请尝试更新gazebo的版本。
sudoaptinstallros-melodic-gaze bo9 *7. px4上层模拟非常好教程https://www.Yu que.com/XT drone/manual _ cn/basic