작성자: 박준규

최초작성: 2023.02.05(일) 수정: 2023.02.06(월)

References listed below.

What you will be able do at the end of this page:

https://youtube.com/watch?v=G4ebR4fpv-8

Let’s go!

Install px4-offboard and dependencies

<aside> 🗣 A big thank you to Jaeyoung Lim for the repo! Shout out to Steve Henderson for this setup guide.

</aside>

<aside> ⚠️ The steps below assume you have already installed: ROS2 Foxy (Ubuntu 20.04), Gazebo, QGroundControl, PX4-Autopilot.

FastDDS and FastRTPS should already be installed with Ubuntu 20.04, so start with installing Fast-RTPS-Gen.

</aside>

<aside> 💡 I recommend you to install Terminator from this point onwards. sudo apt install terminator

</aside>

Installing Fast-RTPS-Gen

Refer to: https://docs.px4.io/main/en/dev_setup/fast-dds-installation.html

<aside> ⚠️ Ubuntu 20.04: Fast DDS 2.0.2 (or later) and Fast-RTPS-Gen 1.0.4 (not later!).

</aside>

Check if FastRTPS is installed:

dpkg -l | grep fastrt

You will see something like:

ii  ros-foxy-fastrtps                               2.1.2-1focal.20220829.174844               amd64        Implementation of RTPS standard.
ii  ros-foxy-fastrtps-cmake-module                  1.0.4-1focal.20220829.181444               amd64        Provide CMake module to find eProsima FastRTPS.
ii  ros-foxy-rmw-fastrtps-cpp                       1.3.1-1focal.20221012.224708               amd64        Implement the ROS middleware interface using eProsima FastRTPS static code generation in C++.
ii  ros-foxy-rmw-fastrtps-shared-cpp                1.3.1-1focal.20221012.221742               amd64        Code shared on static and dynamic type support of rmw_fastrtps_cpp.
ii  ros-foxy-rosidl-typesupport-fastrtps-c          1.0.4-1focal.20221012.215818               amd64        Generate the C interfaces for eProsima FastRTPS.
ii  ros-foxy-rosidl-typesupport-fastrtps-cpp        1.0.4-1focal.20221012.215633               amd64        Generate the C++ interfaces for eProsima FastRTPS.