Ubuntu Linux LTS 18.04 is the standard/preferred Linux development OS. It allows you to build for the most PX4 targets (NuttX based hardware, Qualcomm Snapdragon Flight hardware, Linux-based hardware, Simulation).
Bash scripts are provided to help make it easy to install development environment for different target platforms:
- ubuntu.sh: Installs Gazebo 9 and jMAVSim simulators and/or NuttX/Pixhawk tools. Does not include dependencies for FastRTPS.
- ubuntu_sim_ros_melodic.sh: Installs ROS "Melodic" and PX4 on Ubuntu 18.04 LTS.
The scripts have been tested on clean Ubuntu 16.04 and 18.04 LTS installations. They may not work as expected if installed on top of an existing system or a different Ubuntu release.
The instructions below explain how to download and use the scripts.
To install the toolchain:
- Download PX4 Source Code:
git clone https://github.com/PX4/Firmware.git --recursive
- Run the ubuntu.sh with no arguments (in a bash shell) to install everything:
- Acknowledge any prompts as the script progress.
- You can use the
--no-sim-toolsto omit the nuttx and/or simulation tools.
- Restart the computer on completion.
You can alternatively download ubuntu.sh and requirements.txt from the PX4 source repository (/Tools/setup/) and run ubuntu.sh in place:
- PX4 works with Gazebo 7, 8, and 9. The script uses gazebosim.org instructions to install Gazebo9.
- If you're going work with ROS then follow the ROS/Gazebo instructions instead (these install Gazebo automatically, as part of the ROS installation).
You can verify the the NuttX installation by confirming the gcc version as shown:
$arm-none-eabi-gcc --version arm-none-eabi-gcc (GNU Tools for Arm Embedded Processors 7-2017-q4-major) 7.2.1 20170904 (release) [ARM/embedded-7-branch revision 255204] Copyright (C) 2017 Free Software Foundation, Inc. This is free software; see the source for copying conditions. There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
To get the build toolchain for Raspberry Pi:
- Download ubuntu.sh and requirements.txt from the PX4 source repository (/Tools/setup/):
- Run ubuntu.sh in a terminal to get just the common dependencies:
bash ubuntu.sh --no-nuttx --no-sim-tools
- Then setup an ARMv7 cross-compiler (either GCC or clang) as described in the following sections.
The official Raspberry Pi toolchains are not supported as PX4 has requires C++14 (which they do not support).
Ubuntu provides a set of pre-compiled toolchains that you can use instead. Install these with the terminal command:
sudo apt-get install -y gcc-arm-linux-gnueabihf g++-arm-linux-gnueabihf
These package contains GCC/G++ 7.4.0 at time of writing. To test the toolchain, please execute:
arm-linux-gnueabihf-gcc -v arm-linux-gnueabihf-g++ -v
First install GCC (needed to use clang).
We recommend you to get clang from the Ubuntu software repository as follows:
sudo apt-get install clang
Example below for building PX4 firmware out of tree, using CMake.
cd <PATH-TO-PX4-SRC> mkdir build/px4_raspberrypi_default_clang cd build/px4_raspberrypi_default_clang cmake \ -G"Unix Makefiles" \ -DCONFIG=px4_raspberrypi_default \ -UCMAKE_C_COMPILER \ -DCMAKE_C_COMPILER=clang \ -UCMAKE_CXX_COMPILER \ -DCMAKE_CXX_COMPILER=clang++ \ ../.. make
Additional developer information for using PX4 on Raspberry Pi (including building PX4 natively) can be found here: Raspberry Pi 2/3 Navio2 Autopilot.
This section explains how to install ROS/Gazebo ("Melodic") for use with PX4.
PX4 is tested with ROS Melodic on Ubuntu 18.04 LTS. ROS Melodic does not work on Ubuntu 16.04.
To install the development toolchain:
- Download the script in a bash shell:
- Run the script:
You may need to acknowledge some prompts as the script progresses.
- ROS Melodic is installed with Gazebo9 by default.
- Your catkin (ROS build system) workspace is created at ~/catkin_ws/.
- The script uses instructions from the ROS Wiki "Melodic" Ubuntu page.
Setup instructions for Snapdragon Flight are provided in the PX4 User Guide:
eProsima Fast RTPS is a C++ implementation of the RTPS (Real Time Publish Subscribe) protocol. FastRTPS is used, via the RTPS/ROS2 Interface: PX4-FastRTPS Bridge, to allow PX4 uORB topics to be shared with offboard components.
The following instructions can be used to install the FastRTPS 1.7.1 binaries to your home directory.
wget https://www.eprosima.com/index.php/component/ars/repository/eprosima-fast-rtps/eprosima-fast-rtps-1-7-1/eprosima_fastrtps-1-7-1-linux-tar-gz -O eprosima_fastrtps-1-7-1-linux.tar.gz tar -xzf eprosima_fastrtps-1-7-1-linux.tar.gz eProsima_FastRTPS-1.7.1-Linux/ tar -xzf eprosima_fastrtps-1-7-1-linux.tar.gz requiredcomponents tar -xzf requiredcomponents/eProsima_FastCDR-1.0.8-Linux.tar.gz
In the following lines where we compile the FastCDR and FastRTPS libraries, the
makecommand is issued with the
-j2option. This option defines the number of parallel threads (or
jobs) that are used to compile the source code. Change
-j<number_of_cpu_cores_in_your_system>to speed up the compilation of the libraries.
(cd eProsima_FastCDR-1.0.8-Linux && ./configure --libdir=/usr/lib && make -j2 && sudo make install) (cd eProsima_FastRTPS-1.7.1-Linux && ./configure --libdir=/usr/lib && make -j2 && sudo make install) rm -rf requiredcomponents eprosima_fastrtps-1-7-1-linux.tar.gz
More "generic" instructions, which additionally cover installation from source, can be found here: Fast RTPS installation.
After setting up the build/simulation toolchain, see Additional Tools for information about other useful tools.
Once you have finished setting up the environment, continue to the build instructions.