PX4之旅-环境配置及编译

最新推荐文章于 2025-07-23 10:52:02 发布

justdoit_mac

最新推荐文章于 2025-07-23 10:52:02 发布

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本文链接：https://blog.csdn.net/justdoit_mac/article/details/144452653

学习过程中遇到了各种环境问题，参考网上资料，对以下这些问题进行归纳整理。以便日后查阅

如果在PX4源代码编译过程中出现报错，可能有以下的解决方案

# 模块缺失

ModuleNotFoundError: No module named ‘menuconfig’ CMake Error at
cmake/kconfig.cmake:6 (message): kconfiglib is not installed or not
in PATH

please install using “pip3 install kconfiglib”

Call Stack (most recent call first): CMakeLists.txt:174 (include)

则可以使用如下命令进行配置

sudo -H python3 -m pip install kconfiglib

常见包缺失的情况及指令

sudo -H python3 -m pip install kconfiglib
sudo -H python3 -m pip install jinja2
sudo -H python3 -m pip install jsonschema
sudo -H python3 -m pip install empy
sudo -H python3 -m pip install pyros-genmsg
sudo -H python3 -m pip install packaging
sudo -H python3 -m pip install toml
sudo -H python3 -m pip install numpy
sudo -H python3 -m pip install future

若上述指令仍有报错，则尝试如下指令

pip3 install kconfiglib
pip3 install --user empy
pip3 install --user jsonschema
pip3 install --user jinja2
pip3 install --user pyros-genmsg
pip3 install --user packaging
pip3 install --user toml
pip3 install --user numpy

# 编译工具路径问题

CMake Error at CMakeLists.txt:235 (project): The CMAKE_C_COMPILER:

arm-none-eabi-gcc

is not a full path and was not found in the PATH.

尝试如下指令：

sudo apt-get install gcc-arm-none-eabi

如果仍无法解决，可参考如下链接的解决方案

https://github.com/USCRPL/mbed-cmake/issues/2

# PX4源代码路径问题

可能存在编译过程中报错，说明源代码路径中不能包含有中文名称

1、修改PX4源代码路径

2、使用 make clean, make disclean, rm -rf build等指令清空后，重新编译

# 如果使用gazebo仿真时出现无法分配内存错误

执行

free -m

sudo mkdir /opt/images/

sudo rm -rf /opt/images/swap

sudo dd if=/dev/zero of=/opt/images/swap bs=1024 count=2048000

sudo mkswap /opt/images/swap

sudo swapon /opt/images/swap

# 子模块不全

– PX4 config: px4_fmu-v5_default
– PX4 platform: nuttx make[2]: *** 没有规则可制作目标“dirlinks”。停止。 make[1]: *** [tools/Makefile.unix:332：dirlinks] 错误 2
– cmake build type: MinSizeRel
– The CXX compiler identification is GNU 9.2.1
– The C compiler identification is GNU 9.2.1
– The ASM compiler identification is GNU
– Found assembler: /usr/bin/arm-none-eabi-gcc

执行如下指令

make distclean

git submodule update --init --recursive

# gazebo抱报错

存在gazebo版本问题，则需要卸载现有gazebo版本，重新安装匹配的版本

卸载gazebo9.0指令：

sudo apt-get remove gazebo9*

安装gazebo9.19

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
cat /etc/apt/sources.list.d/gazebo-stable.list
wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install gazebo9=9.1*
sudo apt upgrade libignition-math2

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