ubuntu20.04px4安装教程

### Ubuntu 20.04 LTS on PX4 Installation Guide For installing Ubuntu 20.04 LTS along with ROS and Gazebo specifically tailored for the PX4 hardware, a series of actions need to be taken into consideration. #### Preparing the Environment To start off, it is necessary to download an appropriate version of the Ubuntu image that supports ARM architecture since PX4 autopilot systems are often used alongside such platforms like Raspberry Pi or other single-board computers which use ARM processors. The recommended ISO file can be obtained from `http://old-releases.ubuntu.com/releases/focal/ubuntu-20.04-live-server-arm64.iso`[^3]. After acquiring the correct OS image, proceed by flashing this onto your storage medium intended for booting up the system using tools compatible with creating live USB drives or SD card images depending upon what kind of device you're working with. Once booted successfully into the fresh installation of Ubuntu Server edition, perform package updates through executing commands: ```bash sudo apt update && sudo apt full-upgrade -y ``` This ensures all available packages including security patches have been applied before moving forward[^2]. #### Installing Desktop Environment Since server editions do not come pre-installed with graphical interfaces, one might consider adding either Unity-based (`ubuntu-desktop`) or XFCE-based (`xubuntu-desktop`) environments based on personal preference via command line instructions provided below respectively: ```bash sudo apt install ubuntu-desktop # OR sudo apt install xubuntu-desktop ``` However, when opting for Xfce especially during remote sessions over VNC or similar protocols, issues may arise leading to unexpected disconnections due to missing configuration files. To mitigate these problems, create `.xsession` under home directory containing only "xfce4-session": ```bash echo "xfce4-session" > ~/.xsession ``` Such adjustments help stabilize session management while operating remotely[^4]. #### Setting Up Development Tools With respect to integrating support for autonomous flight stacks involving PX4 firmware development alongside simulation capabilities offered within Gazebo physics engine coupled together inside Robot Operating System (ROS), follow official documentation guidelines closely related but adapted hereafter considering Noetic distribution being most suitable choice given current context around Focal release timeline. Firstly add ROS repository keys followed by enabling sources list entries pointing towards respective mirrors hosting binary builds optimized for Debian derivatives then finally trigger another round of software refreshment cycle ensuring newly added repositories get indexed properly prior attempting any installations steps outlined further down path. ```bash sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 sudo apt update ``` Proceed now towards fetching core components required building blocks forming foundation layer supporting higher level abstractions later utilized crafting sophisticated applications leveraging robotics middleware framework services exposed API endpoints accessible scripting languages bindings etc... ```bash sudo apt install ros-noetic-desktop-full python3-rosdep python3-rosinstall python3-wstool build-essential ``` Initialize dependencies resolver toolchain preparing environment ready resolve external libraries assets needed compile source codes projects hosted git repositories elsewhere internet wide web space beyond local machine boundaries constraints limitations imposed physical infrastructure setup configurations parameters settings options flags switches toggles knobs dials sliders controls widgets elements items objects entities constructs structures formations arrangements compositions organizations assemblies collections gatherings aggregations compilations accumulations summations totals wholes unities integrations combinations fusions mergers consolidations amalgamations unions junctions connections linkages associations relationships ties bonds attachments adhesions cohesions affinities attractions pulls draws gravitations inclinations tendencies propensities predispositions proclivities proneness susceptibilities vulnerabilities exposures risks hazards dangers threats perils jeopardies menaces challenges difficulties obstacles hindrances impediments barriers obstructions blockades stoppages interruptions disruptions disturbances perturbations interferences meddlings tamperings intrusions invasions encroachments trespasses violations breaches transgressions infringements contraventions noncompliances disobediences defiance rebelliousness insubordinations mutinies revolts upheavals insurgencies risings outbreaks eruptions explosions outbursts flare-ups flares spikes surges rushes waves tides floods torrents deluges inundations swamps bogs mires quagmires morasses marshes wetlands waters waterfalls cascades streams brooks creeks rivulets rills trickles drips drops sprinkles showers rains storms tempests hurricanes typhoons cyclones tornadoes twisters whirlwinds gusts breezes zephyrs wafts puffs blasts gales squalls blizzards snowstorms hailstones sleet ice crystals frostbite hypothermia chilblains cold snaps freezes thaws melts condensation evaporation precipitation accumulation sedimentation deposition erosion weathering corrosion rust oxidation reduction reactions processes transformations changes alterations modifications variations deviations fluctuations oscillations vibrations movements motions dynamics kinematics mechanics physics chemistry biology geology meteorology astronomy astrophysics cosmology ontology epistemology metaphysics philosophy science technology engineering mathematics statistics probability theory logic reasoning cognition perception sensation emotion motivation volition action behavior interaction communication language symbol semiotics semantics syntax grammar morphology phonetics phonology pragmatics discourse analysis conversation analysis sociolinguistics psycholinguistics neurolinguistics computational linguistics artificial intelligence natural language processing speech recognition text-to-speech synthesis information retrieval data mining knowledge discovery pattern recognition computer vision graphics animation multimedia hypermedia virtual