Apt Install Gnu Make Compile Easy Apt Get
Setting up the Build Environment (Linux/Ubuntu)¶
This article shows how to setup your build environment on Linux/Ubuntu machines.
Setup on Ubuntu¶
Get git¶
Git is a free and open source distributed version control system that is used to manage ArduPilot codebase. Git is available on all major OS platforms, and a variety of tools exist to make it easier to get started.
Git command line¶
Ubuntu¶
Linux/Ubuntu users can install with apt :
sudo apt-get update
sudo apt-get install git
sudo apt-get install gitk git-gui
Clone ArduPilot repository¶
"Cloning" is git's term for making a local copy of a remote repository (i.e. one held on the GitHub servers).
Developers should clone the main ArduPilot repository (if they simply want to download and compile the latest code) or their own fork (if they want to make changes to the source code and potentially submit changes back).
Instructions for commonly used tools are below but whichever tool is used, the URL for the source repo will be required. This can be found on the right side of the screen on each Github repository home page but in general the URL is:
-
https://github.com/ArduPilot/ardupilot.gitfor the main ardupilot repo -
https://github.com/your-github-account/ardupilotfor your fork of the ardupilot repo
Cloning with the command line¶
-
open a terminal and navigate to the directory where you would like the clone to be stored
-
clone your fork:
git clone https : // github . com / your - github - userid / ardupilot cd ardupilot git submodule update -- init -- recursive
Note
in case some firewalls do not allow ssh access which can cause the above submodule updates to fail, in this instance you can tell git to unilaterally use https through the following command:
git config -- global url . "https://" to use https protocols instead of the default git:// prefix.
Install some required packages¶
If you are on a debian based system (such as Ubuntu or Mint), we provide a script that will do it for you. From ardupilot directory :
Tools / environment_install / install - prereqs - ubuntu . sh - y Reload the path (log-out and log-in to make permanent):
Now you should be able to build with waf as described in BUILD.md.
Note
At this point you have already installed the MAVProxy Ground Control Station (MAVProxy GCS) and are also ready to do Software In the Loop (SITL) simulations of the vehicle code. See SITL Simulator (Software in the Loop) and Setting up SITL on Linux. You are ready to not only build the code, but run your build in the ArduPilot SITL simulator.
Cleaning¶
If there have been updates to some git submodules you may need to do a full clean build. To do that use:
that will remove the build artifacts so you can do a build from scratch
ccache for faster builds¶
Installing ccache will speed up your builds a lot. Once you install it (for example with "sudo apt-get install ccache") you should link the compiler into /usr/lib/ccache like this:
cd / usr / lib / ccache sudo ln - s / usr / bin / ccache arm - none - eabi - g ++ sudo ln - s / usr / bin / ccache arm - none - eabi - gcc Then add /usr/lib/ccache to the front of your $PATH
Additional Steps for macOS mojave¶
Due to some changes binutils installed via brew have stopped working for macOS mojave leading to crashing builds. So if installed, remove via following command:
Also you will need to install the c++ include headers to /usr/include to do that. Run the following in commandline and follow the installation routine:
open / Library / Developer / CommandLineTools / Packages / macOS_SDK_headers_for_macOS_10 .14 . pkg Setup using Docker¶
Clone ArduPilot repository¶
"Cloning" is git's term for making a local copy of a remote repository (i.e. one held on the GitHub servers).
Developers should clone the main ArduPilot repository (if they simply want to download and compile the latest code) or their own fork (if they want to make changes to the source code and potentially submit changes back).
Instructions for commonly used tools are below but whichever tool is used, the URL for the source repo will be required. This can be found on the right side of the screen on each Github repository home page but in general the URL is:
-
https://github.com/ArduPilot/ardupilot.gitfor the main ardupilot repo -
https://github.com/your-github-account/ardupilotfor your fork of the ardupilot repo
Cloning with the command line¶
-
open a terminal and navigate to the directory where you would like the clone to be stored
-
clone your fork:
git clone https : // github . com / your - github - userid / ardupilot cd ardupilot git submodule update -- init -- recursive
How to Build the Docker Image¶
Build the docker image and tag it with the name ardupilot:
docker build . - t ardupilot Run ArduPilot Container¶
The following command runs the docker container, linking your current directory with the ardupilot source, and launches an interactive shell inside the container. From here you can build ardupilot:
docker run --rm -it -v `pwd`:/ardupilot ardupilot:latest bash Source: https://ardupilot.org/dev/docs/building-setup-linux.html
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