{"id":3147,"date":"2019-09-18T22:10:31","date_gmt":"2019-09-18T13:10:31","guid":{"rendered":"https:\/\/www.rgm79sf.site\/?p=3147"},"modified":"2019-09-18T22:10:32","modified_gmt":"2019-09-18T13:10:32","slug":"windows%e3%81%ae%e4%b8%ad%e3%81%aelinux%e3%81%a7ardupilot%e3%83%93%e3%83%ab%e3%83%89%e7%92%b0%e5%a2%83","status":"publish","type":"post","link":"https:\/\/www.rgm79sf.site\/?p=3147","title":{"rendered":"windows\u306e\u4e2d\u306elinux\u3067ardupilot\u30d3\u30eb\u30c9\u74b0\u5883"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">\u3053\u3093\u306b\u3061\u306f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6388\u696d\u306e\u6210\u7e3e\u304c\u60aa\u3044\u306e\u3067\u7814\u7a76\u3092\u9811\u5f35\u308d\u3046\u3068\u610f\u6c17\u8fbc\u3093\u3067\u3044\u308b\u4eca\u65e5\u3053\u306e\u9803\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4eca\u65e5\u306f\u4e00\u5e74\u524d\u304f\u3089\u3044\u306b\u958b\u767a\u8005\u7528\u306bwindows\u306b\u642d\u8f09\u3055\u308c\u3066\u3044\u305fwindows subsystem for linux\u306b\u3064\u3044\u3066\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6025\u306b\u306a\u3093\u3067\u3053\u3093\u306a\u8a71\u306a\u306e\u304b\u3068\u8a00\u3044\u307e\u3059\u3068\u3001\u6700\u8fd1\u79c1\u306fardupilot\u3068\u3044\u3046\u30c9\u30ed\u30fc\u30f3\u306e\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u30bd\u30d5\u30c8\u3092\u4f7f\u3063\u3066\u7814\u7a76\u3092\u3057\u3066\u3044\u307e\u3057\u3066\u3001\u305d\u306e\u30bd\u30d5\u30c8\u306e\u30d3\u30eb\u30c9\u74b0\u5883\u3092\u4f5c\u308b\u306e\u306blinux\u306e\u65b9\u304c\u90fd\u5408\u304c\u826f\u3044\u3068\u3044\u3046\u3053\u3068\u3067\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u30c7\u30e5\u30a2\u30eb\u30d6\u30fc\u30c8\u3068\u304b\u306b\u3057\u3066\u3082\u826f\u304b\u3063\u305f\u306e\u3067\u3059\u304c\u3001\u9762\u767d\u307f\u304c\u306a\u304b\u3063\u305f\u306e\u3067\u3053\u306e\u30b7\u30b9\u30c6\u30e0\u3092\u4f7f\u3063\u3066\u307f\u3088\u3046\u3068\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b9f\u969b\u4f7f\u3063\u3066\u307f\u305f\u3089\u3081\u3061\u3083\u3081\u3061\u3083\u9032\u5316\u3057\u3066\u3066\u3059\u3054\u3044\u4f7f\u3048\u308b\u3058\u3083\u3093\uff01\uff01\u3063\u3066\u3044\u3046\u304a\u8a71\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u5177\u4f53\u7684\u306b\u4f55\u3057\u305f\u306e\u304b\u3068\u3044\u3044\u307e\u3059\u3068\u3002<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">windows subsystem for linux (WSL)\u3092\u4f7f\u7528\u3057\u3066ubuntu16.04 LTS\u3092windows\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">ubuntu\u5185\u306bardupilot\u306e\u30d3\u30eb\u30c9\u74b0\u5883\u306e\u69cb\u7bc9\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">ubuntu\u3067SITL\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3092\u8d77\u52d5\u3057\u3066GUI\u3092\u8868\u793a\u307e\u3067\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u3000<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u7814\u7a76\u3067\u4f7f\u3046\u306e\u306b\u9762\u767d\u307f\u3092\u6c42\u3081\u308b\u306e\u306f\u826f\u304f\u306a\u3044\u3068\u306f\u601d\u3044\u307e\u3059\u304c\u3001\u3053\u3046\u3044\u3046\u65b0\u3057\u3044\u767a\u898b\u304c\u3042\u308b\u304b\u3089\u6b62\u3081\u3089\u308c\u306a\u3044\u30bc\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e00\u5fdc\u624b\u9806\u3092\u307e\u3068\u3081\u3066\u304a\u304d\u307e\u3059\u3002\u81ea\u5206\u306e\u305f\u3081\u306b\u3082\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u3000<\/p>\n\n\n\n<!--more-->\n\n\n\n<p class=\"wp-block-paragraph\">\u3000<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">STEP\uff11\u3000\u307e\u305a\u306fwindows \u306b ubuntu\u3092\u8fce\u3048\u308b\u3002<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">windows\u306e\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u30d1\u30cd\u30eb\u304b\u3089\u300c\u30d7\u30ed\u30b0\u30e9\u30e0\u3068\u6a5f\u80fd\u300d\u3078<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u300cwindows\u306e\u6a5f\u80fd\u306e\u6709\u52b9\u5316\u307e\u305f\u306f\u7121\u52b9\u5316\u300d\u304b\u3089\u300cwindows subsystem for linux\u300d\u3092\u6709\u52b9\u5316\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u30b9\u30c8\u30a2\u3067\u300cubuntu\u300d\u3068\u691c\u7d22\u300016.04LTS\u304c\u5c45\u308b\u306e\u3067\u3053\u308c\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u30b9\u30bf\u30fc\u30c8\u306b\u5c45\u308bubuntu\u3092\u8d77\u52d5\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u521d\u56de\u8d77\u52d5\u6642\u306f\u30e6\u30fc\u30b6\u30fc\u540d\u3068\u30d1\u30b9\u30ef\u30fc\u30c9\u767b\u9332\u304c\u3042\u308b\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u767b\u9332\u304c\u7d42\u308f\u3063\u305f\u3089<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>$ sudo apt update<\/li><li>$ sudo apt upgrade<\/li><\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u3068\u3044\u3064\u3082\u306e\u546a\u6587\u3092\u5531\u3048\u3066\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u5b8c\u4e86\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u3000<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">STEP\uff12\u3000GUI\u3092\u8868\u793a\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\u3002<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/sourceforge.net\/projects\/vcxsrv\/\">VcXsrv Windows X Server<\/a>\u3000\u3092\u5229\u7528\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e0a\u306e\u3084\u3064\u3092windows\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3066\u304a\u304f\u3002\u7279\u306b\u30aa\u30d7\u30b7\u30e7\u30f3\u306f\u5f04\u3089\u306a\u3044\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">ubuntu\u306e\u30c7\u30a3\u30b9\u30d7\u30ec\u30a4\u8a2d\u5b9a\u3092\u5909\u66f4\u3059\u308b\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u3000$ echo export DISPLAY=:0.0 &gt;&gt; ~\/.profile<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"> $ source ~\/.profile<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8a73\u3057\u304f\u306f<a href=\"https:\/\/www.atmarkit.co.jp\/ait\/articles\/1812\/06\/news040.html\">\u3053\u3061\u3089\u306e\u30da\u30fc\u30b8<\/a>\u306b\u3066\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u53c2\u8003\u306b\u3055\u305b\u3066\u3044\u305f\u3060\u304d\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u3000<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">STEP\uff13\u3000ardupilot\u30d3\u30eb\u30c9\u74b0\u5883\u306e\u69cb\u7bc9\u3002<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"http:\/\/ardupilot.org\/dev\/docs\/building-setup-linux.html\">\u516c\u5f0f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8<\/a>\u306b\u66f8\u3044\u3066\u3042\u308b\u3053\u3068\u3092\u306a\u305e\u3063\u3066\u884c\u304d\u307e\u3059\u3002 <\/p>\n\n\n\n<pre class=\"wp-block-preformatted\"> $ git clone https:<strong>\/\/<\/strong>github<strong>.<\/strong>com<strong>\/<\/strong>ArduPilot<strong>\/<\/strong>ardupilot<\/pre>\n\n\n\n<pre class=\"wp-block-preformatted\"> $cd ardupilot<\/pre>\n\n\n\n<pre class=\"wp-block-preformatted\"> $git submodule update <strong>--<\/strong>init <strong>--<\/strong>recursive<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u306e\u6700\u5f8c\u306e\u30b3\u30de\u30f3\u30c9\u306e\u6642\u306btimed out\u3068\u304b\u30a8\u30e9\u30fc\u3092\u5410\u304f\u5834\u5408\u306f\u5c11\u3057\u30c6\u30b3\u5165\u308c\u304c\u5fc5\u8981\u3002\u5b66\u5185LAN\u306a\u3069\u3067\u8d77\u304d\u308b\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/qiita.com\/nntsugu\/items\/38dc49a47d1b658325e8\">\u3053\u3061\u3089\u306e\u8a18\u4e8b\u3092\u53c2\u8003<\/a>\u306b<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\"> $ git config --global url.\"https:\/\/\".insteadOf git:\/\/<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u3068\u6253\u3063\u305f\u3042\u3068\u306b\u3082\u3046\u4e00\u5ea6\u4e0a\u306e git submodule\uff5e\uff5e\uff5e\u3092\u6253\u3064\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5fc5\u8981\u306a\u30bd\u30d5\u30c8\u3092\u305f\u304f\u3055\u3093\u5165\u308c\u308b\u30b9\u30af\u30ea\u30d7\u30c8\u3092\u5b9f\u884c<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\"> $ Tools<strong>\/<\/strong>environment_install<strong>\/<\/strong>install<strong>-<\/strong>prereqs<strong>-<\/strong>ubuntu<strong>.<\/strong>sh <strong>-<\/strong>y<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u7d50\u69cb\u6642\u9593\u304b\u304b\u308a\u307e\u3059\u3002\u3042\u3068\u9014\u4e2d\u3067root\u30d1\u30b9\u30ef\u30fc\u30c9\u3092\u805e\u304b\u308c\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u308c\u3067\u30d3\u30eb\u30c9\u306b\u5fc5\u8981\u306a\u3082\u306e\u306f\u63c3\u3044\u307e\u3057\u305f\u3002\u3042\u3068\u306f<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\"> $.\/waf list_boards<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u3067\u76ee\u7684\u306e\u30dc\u30fc\u30c9\u306e\u540d\u524d\u3092\u63a2\u3057\u3066<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\"> $.\/waf configure --board [\u30dc\u30fc\u30c9\u306e\u540d\u524d]<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u3067\u6e96\u5099\u3002<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\"> $.\/waf copter<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u3067\u30d3\u30eb\u30c9\u958b\u59cb\u3002\u5b8c\u6210\u54c1\u306f~\/ardupilot\/build \u306e\u4e2d\u306b\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u306a\u304anavio2\u3092\u4f7f\u7528\u3059\u308b\u5834\u5408\u306f\u30d3\u30eb\u30c9\u6e96\u5099\u306e\u524d\u306b<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\"> $ pip install future<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u304c\u5fc5\u8981\u3002\u305d\u306e\u4ed6\u5404\u7a2e\u30dc\u30fc\u30c9\u3067\u5fc5\u8981\u306a\u3082\u306e\u304c\u3042\u3063\u305f\u308a\u306a\u304b\u3063\u305f\u308a\u3059\u308b\u306e\u3067\u6ce8\u610f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u308c\u3067\u30d3\u30eb\u30c9\u74b0\u5883\u3068\u30d3\u30eb\u30c9\u304c\u5b8c\u4e86\u3057\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u30d3\u30eb\u30c9\u306b\u95a2\u3057\u3066\u306f<a href=\"https:\/\/github.com\/ArduPilot\/ardupilot\/blob\/master\/BUILD.md\">\u516c\u5f0f\u3092\u53c2\u8003<\/a>\u306b\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u3000<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">STEP\uff14\u3000SITL\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3092\u8d77\u52d5\u3059\u308b<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u4eca\u56de\u306f\u30b3\u30d7\u30bf\u30fc\u306e\u4f8b\u3002<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\"> $cd ArduCopter<\/pre>\n\n\n\n<pre class=\"wp-block-preformatted\"> $sim_vehicle.py --map --console<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u308c\u3067\u8d77\u52d5\u3059\u308b\u306f\u305a\u3002\u3057\u306a\u304b\u3063\u305f\u3089\u4eca\u307e\u3067\u306e\u624b\u9806\u306e\u3069\u3053\u304b\u3067\u30df\u30b9\u304c\u3042\u308b\u304b\u3082\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u5185\u306e\u64cd\u4f5c\u306a\u3069\u306f<a href=\"http:\/\/ardupilot.org\/dev\/docs\/copter-sitl-mavproxy-tutorial.html\">\u516c\u5f0f\u306e\u3053\u3061\u3089<\/a>\u3092\u53c2\u8003\u306b\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u3000<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4ee5\u4e0a\uff01\uff01\u9577\u3005\u3068\u304a\u75b2\u308c\u3055\u307e\u3067\u3057\u305f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u610f\u5916\u3068\u30b5\u30af\u30c3\u3068\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u304c\u52d5\u3044\u305f\u308a\u3057\u3066\u611f\u52d5\u3057\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u30d3\u30eb\u30c9\u3082\u666e\u901a\u306b\u901a\u308b\u3057\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4eca\u5f8c\u306f\u3053\u308c\u3092\u4f7f\u3063\u3066\u7814\u7a76\u7528\u306e\u30c9\u30ed\u30fc\u30f3\u306b\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u7d44\u307f\u8fbc\u3093\u3067\u3044\u304f\u308f\u3051\u3067\u3059\u3002<\/p>\n\n\n\n<p 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