PX4 Development
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On a clean Ubuntu environment (e.g., 18.04 LTS), we need to
Run the script to install PX4 related dependencies (both hardware and simulation)
use arg --no-nuttx
to omit NuttX/Pixhawk tools
use arg --no-sim-tools
to omit jMAVSim and Gazebo9 simulator
Install ROS Melodic by following the .
Run the script to install common dependencies for simulation.
Install MAVROS by following the .
we use source installation for development
use sudo
for install_geographiclib_datasets.sh
echo "source ~/catkin_ws/devel/setup.bash --extend" >> ~/.bashrc
ubuntu.sh
is needed for both hardware and simulation
is not used/recommended
To have more flexibility, we install three parts separately: ROS, sim dependencies, and MAVROS
In order to run PX4 in Gazebo simulation, we have three more steps.
build PX4 source code to generate a Iris quadrotor model in Gazebo (i.e. the target)
set up environment variables
roslaunch Gazebo simulation and run offboard control program
similar to px4.launch
or posix_sitl.launch
run offboard control C++ program by rosrun <package_name> offboard_node
provides two bash scripts: ubuntu.sh
and ubuntu_sim_ros_melodic.sh
build targets for Gazebo, jMAVSim, or NuttX
ROS/Gazebo and Raspberry Pi (armhf or aarch64)
set up environment variables
ROS launch files
launch SITL and MAVROS by
PX4 documentation:
PX4 documentation:
PX4 documentation:
PX4 documentation: