[PX4 개발자] PX4 Firmware 컴파일하기

오늘은 PX4 펌웨어를 다운받아서 직접 컴파일해보고자 한다. 펌웨어 컴파일이 정상적으로 되면 다음 과정으로 SITL 환경을 구축할 수 있다.

 

먼저 펌웨어를 컴파일하기 위해서는 필요한 라이브러리나 패키지 등을 설치해야 한다.

 

1. 설치된 패키지들을 업데이트 한다.

$ sudo apt-get update

 

2.  설치에 필요한 키 인증을 한다.

$ sudo add-apt-repository ppa:george-edison55/cmake-3.x -y gpg: keyring `/tmp/tmpujwkbpkm/secring.gpg' created gpg: keyring `/tmp/tmpujwkbpkm/pubring.gpg' created gpg: requesting key 828AB726 from hkp server keyserver.ubuntu.com gpg: /tmp/tmpujwkbpkm/trustdb.gpg: trustdb created gpg: key 828AB726: public key "Launchpad George Edison's PPA" imported gpg: Total number processed: 1 gpg:               imported: 1  (RSA: 1) OK

 

3. 필요한 패키지들을  설치한다. -y는 묻는 옵션에 yes라고 답변하고 설치한다는 옵션이다.

$ sudo apt-get install libpython2.7-stdlib git-core wget zip python-empy qtcreator cmake build-essential genromfs -y

 

4. 필요한 라이브러리들을  설치한다. -y는 묻는 옵션에 yes라고 답변하고 설치한다는 옵션이다.

$ sudo apt-get install ant protobuf-compiler libeigen3-dev libopencv-dev openjdk-8-jdk openjdk-8-jre clang-3.5 lldb-3.5 -y

 

5. catkin tools 를 설치한다. wget은

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list' $ wget http://packages.ros.org/ros.key -O - | sudo apt-key add -   --2019-07-11 01:28:48--  http://packages.ros.org/ros.key Resolving packages.ros.org (packages.ros.org)... 64.50.236.52, 140.211.166.134, 64.50.233.100, ... Connecting to packages.ros.org (packages.ros.org)|64.50.236.52|:80... connected. HTTP request sent, awaiting response... 200 OK Length: 1167 (1.1K) Saving to: ‘STDOUT’ -                   100%[===================>]   1.14K  --.-KB/s    in 0s       2019-07-11 01:28:48 (72.8 MB/s) - written to stdout [1167/1167] OK   $ sudo apt-get update $ sudo apt-get install python-catkin-tools

 

6. PX4 펌웨어를 다운로드한다.펌웨어는 github에서 다운로드한다. 경로는 아래와 같다.

https://github.com/PX4/Firmware

PX4/Firmware

공식배포된 버전을 다운받고, 하위 폴더의 submodule까지 포함하여 다운로드한다.

명령어는 터미널에서 ~/catkin_ws/src 경로로 이동한 후 수행한다.

$ cd ~/catkin_ws/src ~/catkin_ws/src $ git clone https://github.com/PX4/Firmware.git   Cloning into 'Firmware'... remote: Enumerating objects: 174, done. remote: Counting objects: 100% (174/174), done. remote: Compressing objects: 100% (111/111), done. remote: Total 277703 (delta 92), reused 104 (delta 58), pack-reused 277529 Receiving objects: 100% (277703/277703), 103.03 MiB | 2.52 MiB/s, done. Resolving deltas: 100% (208636/208636), done. Checking connectivity... done.   ~/catkin_ws/src $ cd Firmware ~/catkin_ws/src/Firmware $ git submodule update --init --recursive   xSubmodule 'Tools/jMAVSim' (https://github.com/PX4/jMAVSim.git) registered for path 'Tools/jMAVSim' Submodule 'Tools/sitl_gazebo' (https://github.com/PX4/sitl_gazebo.git) registered for path 'Tools/sitl_gazebo' Submodule 'boards/atlflight/cmake_hexagon' (https://github.com/PX4/cmake_hexagon.git) registered for path 'boards/atlflight/cmake_hexagon' Submodule 'cmake/configs/uavcan_board_ident' (https://github.com/PX4/uavcan_board_ident.git) registered for path 'cmake/configs/uavcan_board_ident' Submodule 'mavlink/include/mavlink/v2.0' (https://github.com/mavlink/c_library_v2.git) registered for path 'mavlink/include/mavlink/v2.0' Submodule 'msg/tools/gencpp' (https://github.com/PX4/gencpp.git) registered for path 'msg/tools/gencpp' Submodule 'msg/tools/genmsg' (https://github.com/PX4/genmsg.git) registered for path 'msg/tools/genmsg' Submodule 'platforms/nuttx/NuttX/apps' (https://github.com/PX4/NuttX-apps.git) registered for path 'platforms/nuttx/NuttX/apps' Submodule 'platforms/nuttx/NuttX/nuttx' (https://github.com/PX4/NuttX.git) registered for path 'platforms/nuttx/NuttX/nuttx' Submodule 'src/drivers/gps/devices' (https://github.com/PX4/GpsDrivers.git) registered for path 'src/drivers/gps/devices' Submodule 'src/drivers/uavcan/libuavcan' (https://github.com/PX4/uavcan.git) registered for path 'src/drivers/uavcan/libuavcan' Submodule 'src/lib/DriverFramework' (https://github.com/PX4/DriverFramework.git) registered for path 'src/lib/DriverFramework' Submodule 'src/lib/ecl' (https://github.com/PX4/ecl.git) registered for path 'src/lib/ecl' Submodule 'src/lib/matrix' (https://github.com/PX4/Matrix.git) registered for path 'src/lib/matrix' Submodule 'src/modules/micrortps_bridge/micro-CDR' (https://github.com/PX4/micro-CDR.git) registered for path 'src/modules/micrortps_bridge/micro-CDR' Cloning into 'Tools/jMAVSim'... remote: Enumerating objects: 18, done. remote: Counting objects: 100% (18/18), done. remote: Compressing objects: 100% (12/12), done. remote: Total 3065 (delta 4), reused 4 (delta 0), pack-reused 3047 Receiving objects: 100% (3065/3065), 53.17 MiB | 3.04 MiB/s, done. Resolving deltas: 100% (1524/1524), done. Checking connectivity... done. Submodule path 'Tools/jMAVSim': checked out 'def7501bc0536b8d1050f65d09c7dfbebcc0ce61' Submodule 'jMAVlib' (https://github.com/PX4/jMAVlib.git) registered for path 'jMAVlib' Cloning into 'jMAVlib'... remote: Enumerating objects: 1092, done. remote: Total 1092 (delta 0), reused 0 (delta 0), pack-reused 1092 Receiving objects: 100% (1092/1092), 167.92 KiB | 0 bytes/s, done. Resolving deltas: 100% (444/444), done. Checking connectivity... done. Submodule path 'Tools/jMAVSim/jMAVlib': checked out 'b8d4e8e7acfd2e47f4b51f0c2577fba6ef5ba735' Cloning into 'Tools/sitl_gazebo'... remote: Enumerating objects: 35, done. remote: Counting objects: 100% (35/35), done. remote: Compressing objects: 100% (28/28), done. remote: Total 6222 (delta 12), reused 18 (delta 7), pack-reused 6187 Receiving objects: 100% (6222/6222), 69.13 MiB | 3.30 MiB/s, done. Resolving deltas: 100% (4183/4183), done. Checking connectivity... done. Submodule path 'Tools/sitl_gazebo': checked out '22df9475ca0d157e2db066a20f64c35906bf7f25' Submodule 'external/OpticalFlow' (https://github.com/PX4/OpticalFlow.git) registered for path 'external/OpticalFlow' Cloning into 'external/OpticalFlow'... remote: Enumerating objects: 187, done. remote: Total 187 (delta 0), reused 0 (delta 0), pack-reused 187 Receiving objects: 100% (187/187), 42.59 KiB | 0 bytes/s, done. Resolving deltas: 100% (108/108), done. Checking connectivity... done. Submodule path 'Tools/sitl_gazebo/external/OpticalFlow': checked out '54471159d4202d305e5643bbad3f2307f5dd1e37' Submodule 'external/klt_feature_tracker' (https://github.com/ethz-ait/klt_feature_tracker.git) registered for path 'external/klt_feature_tracker' Cloning into 'external/klt_feature_tracker'... remote: Enumerating objects: 51, done. remote: Total 51 (delta 0), reused 0 (delta 0), pack-reused 51 Unpacking objects: 100% (51/51), done. Checking connectivity... done. Submodule path 'Tools/sitl_gazebo/external/OpticalFlow/external/klt_feature_tracker': checked out 'a0d242294ef638d8fa422ab43f0d476ba37a15a6' Cloning into 'boards/atlflight/cmake_hexagon'... remote: Enumerating objects: 517, done. remote: Total 517 (delta 0), reused 0 (delta 0), pack-reused 517 Receiving objects: 100% (517/517), 91.10 KiB | 0 bytes/s, done. Resolving deltas: 100% (293/293), done. Checking connectivity... done. Submodule path 'boards/atlflight/cmake_hexagon': checked out '08fd0a73045346448adf6969660196228b23e1fa' Cloning into 'cmake/configs/uavcan_board_ident'... remote: Enumerating objects: 15, done. remote: Total 15 (delta 0), reused 0 (delta 0), pack-reused 15 Unpacking objects: 100% (15/15), done. Checking connectivity... done. Submodule path 'cmake/configs/uavcan_board_ident': checked out '2e5f9d6768b1dbffc006dc2ceeb2bfe120f22163' Cloning into 'mavlink/include/mavlink/v2.0'... remote: Enumerating objects: 338, done. remote: Counting objects: 100% (338/338), done. remote: Compressing objects: 100% (185/185), done. remote: Total 16308 (delta 292), reused 196 (delta 153), pack-reused 15970 Receiving objects: 100% (16308/16308), 7.24 MiB | 2.61 MiB/s, done. Resolving deltas: 100% (14935/14935), done. Checking connectivity... done. Submodule path 'mavlink/include/mavlink/v2.0': checked out '18cf6ff2fc0e51e4555b19fc31e8b06eb38bdd79' Cloning into 'msg/tools/gencpp'... remote: Enumerating objects: 815, done. remote: Total 815 (delta 0), reused 0 (delta 0), pack-reused 815 Receiving objects: 100% (815/815), 135.99 KiB | 0 bytes/s, done. Resolving deltas: 100% (443/443), done. Checking connectivity... done. Submodule path 'msg/tools/gencpp': checked out '7e446a9976916a7b6fc7266098c67fc6f73a76e0' Cloning into 'msg/tools/genmsg'... remote: Enumerating objects: 1762, done. remote: Total 1762 (delta 0), reused 0 (delta 0), pack-reused 1762 Receiving objects: 100% (1762/1762), 372.61 KiB | 360.00 KiB/s, done. Resolving deltas: 100% (942/942), done. Checking connectivity... done. Submodule path 'msg/tools/genmsg': checked out '5736b1f7ad037fb5811a3100ba9da2db0ec1f20a' Cloning into 'platforms/nuttx/NuttX/apps'... remote: Enumerating objects: 104, done. remote: Counting objects: 100% (104/104), done. remote: Compressing objects: 100% (73/73), done. remote: Total 47912 (delta 62), reused 66 (delta 31), pack-reused 47808 Receiving objects: 100% (47912/47912), 12.52 MiB | 2.81 MiB/s, done. Resolving deltas: 100% (39233/39233), done. Checking connectivity... done. Submodule path 'platforms/nuttx/NuttX/apps': checked out '7db2a352fb19438bb966e419c61e55092056d385' Cloning into 'platforms/nuttx/NuttX/nuttx'... remote: Enumerating objects: 172, done. remote: Counting objects: 100% (172/172), done. remote: Compressing objects: 100% (116/116), done. remote: Total 440509 (delta 91), reused 106 (delta 54), pack-reused 440337 Receiving objects: 100% (440509/440509), 128.35 MiB | 2.69 MiB/s, done. Resolving deltas: 100% (338153/338153), done. Checking connectivity... done. Submodule path 'platforms/nuttx/NuttX/nuttx': checked out '423371c7d4012e725ac4ca51323a18df64e581b3' Cloning into 'src/drivers/gps/devices'... remote: Enumerating objects: 17, done. remote: Counting objects: 100% (17/17), done. remote: Compressing objects: 100% (14/14), done. remote: Total 543 (delta 7), reused 5 (delta 3), pack-reused 526 Receiving objects: 100% (543/543), 220.62 KiB | 347.00 KiB/s, done. Resolving deltas: 100% (394/394), done. Checking connectivity... done. Submodule path 'src/drivers/gps/devices': checked out '69e38ecc846df03f0bb71aa136bcc830dd3316a9' Cloning into 'src/drivers/uavcan/libuavcan'... remote: Enumerating objects: 17554, done. remote: Total 17554 (delta 0), reused 0 (delta 0), pack-reused 17554 Receiving objects: 100% (17554/17554), 2.81 MiB | 1.25 MiB/s, done. Resolving deltas: 100% (11815/11815), done. Checking connectivity... done. Submodule path 'src/drivers/uavcan/libuavcan': checked out '6174b8c10a2dbf47076ca7a7b5820a4c36c8a988' Submodule 'dsdl' (https://github.com/UAVCAN/dsdl) registered for path 'dsdl' Submodule 'libuavcan/dsdl_compiler/pyuavcan' (https://github.com/UAVCAN/pyuavcan) registered for path 'libuavcan/dsdl_compiler/pyuavcan' Submodule 'libuavcan_drivers/kinetis' (https://github.com/UAVCAN/libuavcan_kinetis.git) registered for path 'libuavcan_drivers/kinetis' Cloning into 'dsdl'... remote: Enumerating objects: 1963, done. remote: Total 1963 (delta 0), reused 0 (delta 0), pack-reused 1963 Receiving objects: 100% (1963/1963), 291.31 KiB | 359.00 KiB/s, done. Resolving deltas: 100% (1158/1158), done. Checking connectivity... done. Submodule path 'src/drivers/uavcan/libuavcan/dsdl': checked out '192295c4f9b67f4a20b0eabf74757b6597415f2b' Cloning into 'libuavcan/dsdl_compiler/pyuavcan'... remote: Enumerating objects: 330, done. remote: Counting objects: 100% (330/330), done. remote: Compressing objects: 100% (232/232), done. remote: Total 3859 (delta 159), reused 234 (delta 91), pack-reused 3529 Receiving objects: 100% (3859/3859), 802.46 KiB | 383.00 KiB/s, done. Resolving deltas: 100% (2518/2518), done. Checking connectivity... done. Submodule path 'src/drivers/uavcan/libuavcan/libuavcan/dsdl_compiler/pyuavcan': checked out 'c58477a644d20ccf95a20c151f3a0402f271c3b8' Submodule 'dsdl' (https://github.com/UAVCAN/dsdl) registered for path 'dsdl' Cloning into 'dsdl'... remote: Enumerating objects: 1963, done. remote: Total 1963 (delta 0), reused 0 (delta 0), pack-reused 1963 Receiving objects: 100% (1963/1963), 291.31 KiB | 356.00 KiB/s, done. Resolving deltas: 100% (1158/1158), done. Checking connectivity... done. Submodule path 'src/drivers/uavcan/libuavcan/libuavcan/dsdl_compiler/pyuavcan/dsdl': checked out 'fd12483ddd4e58242d61d74a163e7aeaa1e0f466' Cloning into 'libuavcan_drivers/kinetis'... remote: Enumerating objects: 27, done. remote: Total 27 (delta 0), reused 0 (delta 0), pack-reused 27 Unpacking objects: 100% (27/27), done. Checking connectivity... done. Submodule path 'src/drivers/uavcan/libuavcan/libuavcan_drivers/kinetis': checked out '0c774a5a99bbd91d1f4832290fbed9168b2f65e5' Cloning into 'src/lib/DriverFramework'... remote: Enumerating objects: 5116, done. remote: Total 5116 (delta 0), reused 0 (delta 0), pack-reused 5116 Receiving objects: 100% (5116/5116), 959.32 KiB | 356.00 KiB/s, done. Resolving deltas: 100% (3521/3521), done. Checking connectivity... done. Submodule path 'src/lib/DriverFramework': checked out '06277ef49fb8c9fad18d56ef40e8bc9fe1655a65' Submodule 'dspal' (https://github.com/ATLFlight/dspal) registered for path 'dspal' Cloning into 'dspal'... remote: Enumerating objects: 1222, done. remote: Total 1222 (delta 0), reused 0 (delta 0), pack-reused 1222 Receiving objects: 100% (1222/1222), 355.40 KiB | 359.00 KiB/s, done. Resolving deltas: 100% (777/777), done. Checking connectivity... done. Submodule path 'src/lib/DriverFramework/dspal': checked out '9b46b4a57f230672ee0806a523963af70bc44f1c' Submodule 'cmake_hexagon' (https://github.com/ATLFlight/cmake_hexagon) registered for path 'cmake_hexagon' Cloning into 'cmake_hexagon'... remote: Enumerating objects: 517, done. remote: Total 517 (delta 0), reused 0 (delta 0), pack-reused 517 Receiving objects: 100% (517/517), 91.10 KiB | 0 bytes/s, done. Resolving deltas: 100% (293/293), done. Checking connectivity... done. Submodule path 'src/lib/DriverFramework/dspal/cmake_hexagon': checked out '07168bd5715818802b78f674816ec851307998a7' Cloning into 'src/lib/ecl'... remote: Enumerating objects: 6392, done. remote: Total 6392 (delta 0), reused 0 (delta 0), pack-reused 6392 Receiving objects: 100% (6392/6392), 21.47 MiB | 3.12 MiB/s, done. Resolving deltas: 100% (4535/4535), done. Checking connectivity... done. Submodule path 'src/lib/ecl': checked out 'e1751188fd15b799cbfae86bd7373bb91206069b' Cloning into 'src/lib/matrix'... remote: Enumerating objects: 4, done. remote: Counting objects: 100% (4/4), done. remote: Compressing objects: 100% (4/4), done. remote: Total 1787 (delta 0), reused 1 (delta 0), pack-reused 1783 Receiving objects: 100% (1787/1787), 979.39 KiB | 357.00 KiB/s, done. Resolving deltas: 100% (1304/1304), done. Checking connectivity... done. Submodule path 'src/lib/matrix': checked out '56b069956da141da244926ed7000e89b2ba6c731' Cloning into 'src/modules/micrortps_bridge/micro-CDR'... remote: Enumerating objects: 1507, done. remote: Total 1507 (delta 0), reused 0 (delta 0), pack-reused 1507 Receiving objects: 100% (1507/1507), 638.39 KiB | 358.00 KiB/s, done. Resolving deltas: 100% (832/832), done. Checking connectivity... done. Submodule path 'src/modules/micrortps_bridge/micro-CDR': checked out '62d95c870eafb0cccc7bf70bb8a0cbb86f125a0e'

7. 빌드 한다. make 옵션은 여러가지가 있으나 SITL을 위한 make가 정상적으로 컴파일되는지 실행해본다.

정상적으로 컴파일이 되면 아래와 같은 메시지가 나타난다.

중간에 에러가 나거나 멈추게 되면 에러 메시지를 잘 확인하여 필요한 패키지나 라이브러리가 없는지 확인하고 필요한 것은 메시지를 참고하여 설치한다.

 

 

~/catkin_ws/src/Firmware$ make px4_sitl_default -- PX4 config file: /home/swift/catkin_ws/src/Firmware/boards/px4/sitl/default.cmake -- PX4 config: px4_sitl_default -- PX4 platform: posix -- PX4 lockstep: enabled -- PX4 version: v1.9.0-366-gfbd3386 -- cmake build type: RelWithDebInfo -- The CXX compiler identification is GNU 5.4.0 -- The C compiler identification is GNU 5.4.0 -- The ASM compiler identification is GNU -- Found assembler: /usr/bin/cc -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Check for working C compiler: /usr/bin/cc -- Check for working C compiler: /usr/bin/cc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Found PythonInterp: /usr/bin/python (found version "2.7.12")  -- Found PY_jinja2: /usr/lib/python2.7/dist-packages/jinja2   -- PX4 ECL: Very lightweight Estimation & Control Library v1.9.0-rc1-17-ge175118 -- Configuring done -- Generating done -- Build files have been written to: /home/swift/catkin_ws/src/Firmware/build/px4_sitl_default Scanning dependencies of target drivers_board Scanning dependencies of target lockstep_scheduler Scanning dependencies of target df_driver_framework Scanning dependencies of target uorb_headers [  0%] Building CXX object platforms/posix/src/lockstep_scheduler/CMakeFiles/lockstep_scheduler.dir/src/lockstep_scheduler.cpp.o [  0%] Building C object boards/px4/sitl/src/CMakeFiles/drivers_board.dir/__/__/__/__/src/drivers/boards/common/board_identity.c.o [  0%] Generating uORB topic headers [  0%] Building CXX object src/lib/DriverFramework/framework/src/CMakeFiles/df_driver_framework.dir/DriverFramework.cpp.o 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만약 px4 타겟에 대한 옵션을 모르면 아래와 같이 조회할 수 있다.

$ make list_config_targets

 

다음으로 붙는 옵션은 Viewer, Model, Debugger에 대한 옵션이다. Viewer는 Jmavsim 또는 Gazebo 어는것을 Simulator로 쓸것인가이고, Model은 iris, vtol, tailsitter등 여러 종류가 있다. debugger는 ide, gdb등의 디버깅 툴을 말한다. 

 

이에 대한 옵션을 보고 싶으면 아래와 같이 입력하면 된다.

$ make px4_sitl list_vmd_make_targets