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@natsumi 2017-01-18T11:13:00.000000Z 字数 1917 阅读 1561

Ubuntu 16.04 + Onboard SDK软件环境搭建

UAV


参考
https://developer.dji.com/onboard-sdk/documentation/github-platform-docs/ROS/README.html#setup

软件要求

apt安装build-essential,cmake(2.8.3或以上)
ROS及其依赖

安装ROS和环境配置

参考
安装http://wiki.ros.org/kinetic/Installation/Ubuntu
配置http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment
全套教程(好长)http://wiki.ros.org/ROS/Tutorials

  1. sudo rosdep init
  2. rosdep update
  1. echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
  2. source ~/.bashrc
  1. $ mkdir -p ~/catkin_ws/src
  2. $ cd ~/catkin_ws/src
  3. $ catkin_init_workspace
  1. $ cd ~/catkin_ws/
  2. $ catkin_make

build之后workspace中多了'build'和'devel'目录,devel中有setup.*sh文件

  1. source devel/setup.bash
  2. echo $ROS_PACKAGE_PATH

编译Onboard-SDK

  • 完成ROS的安装和配置后,进入catkin workspace,将SDK代码放到src目录下,运行catkin_make

  • 或者参考.travis.yml脚本从scratch安装和配置ROS,然后在catkin workspace中运行catkin_make

  • You can pass -DUSE_COLLISION_AVOIDANCE=ON for compiling with LiDAR Collision Avoidance and -DUSE_POINTCLOUD2LAS=ON for building with LiDAR Mapping.

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