298 lines
4.7 KiB
Markdown
298 lines
4.7 KiB
Markdown
# SkyLink 安装和编译指南
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## 系统需求
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### 通用需求
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- Git
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- CMake 3.16+
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- C++ 编译器 (GCC 9+ / Clang 10+ / MSVC 2019+)
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### 机载端 (ROS 2)
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- Ubuntu 22.04 LTS (推荐)
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- ROS 2 Humble
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- OpenCV 4.5+
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- libjpeg-turbo
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### PC 端 (Qt 6)
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- Qt 6.2+
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- OpenCV 4.5+
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- CMake 3.24+
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### 移动端 (Android)
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- Android 12+ (API 31+)
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- Android Studio Flamingo+
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- Kotlin 1.9.20+
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---
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## 🔧 机载端编译 (ROS 2)
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### 1. 安装 ROS 2 Humble
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```bash
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# 添加 ROS 2 源
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sudo apt update
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sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
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sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $VERSION_CODENAME) main" > /etc/apt/sources.list.d/ros2.list'
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# 安装 ROS 2 Humble
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sudo apt update
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sudo apt install ros-humble-ros-core
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```
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### 2. 安装依赖
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```bash
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# 系统依赖
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sudo apt install -y \
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build-essential \
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python3-dev \
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python3-colcon-common \
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libopencv-dev \
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libjpeg-turbo-dev \
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libmavros-dev
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# ROS 2 依赖
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sudo apt install -y \
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ros-humble-rclcpp \
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ros-humble-sensor-msgs \
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ros-humble-cv-bridge \
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ros-humble-image-transport \
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ros-humble-mavros
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```
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### 3. 编译 SkyLink ROS 2 包
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```bash
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# 导入 ROS 2 环境
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source /opt/ros/humble/setup.bash
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# 进入项目目录
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cd ~/skylink_ros2
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# 运行编译脚本
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./build.sh release
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# 或手动编译
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colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
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```
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### 4. 启动机载端
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```bash
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# 导入编译产物
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source ~/skylink_ros2/install/setup.bash
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# 编辑配置文件（可选）
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nano src/skylink_bridge/config/params.yaml
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# 启动节点
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ros2 launch skylink_bridge bridge.launch.py
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```
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---
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## 🖥️ PC 端编译 (Qt 6)
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### 1. 安装 Qt 6
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```bash
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# Ubuntu
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sudo apt install -y \
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qt6-base-dev \
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qt6-tools-dev \
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qt6-network-dev \
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qt6-concurrent-dev \
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libopencv-dev
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# Windows (使用 Qt Online Installer)
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# https://www.qt.io/download-open-source
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```
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### 2. 编译 SkyLink 地面站
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```bash
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cd ~/skylink_qt_station
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# 创建编译目录
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mkdir build && cd build
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# 配置
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cmake .. -DCMAKE_BUILD_TYPE=Release
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# 编译
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make -j$(nproc)
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# 运行
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./skylink_station
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```
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### 3. 基于 Qt Creator 开发
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```bash
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# 用 Qt Creator 打开项目
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qtcreator CMakeLists.txt
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# 或 .pro 文件（如果存在）
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qtcreator skylink_station.pro
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```
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---
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## 📱 移动端编译 (Android)
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### 1. 安装 Android Studio
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从 [Android 官网](https://developer.android.com/studio) 下载并安装。
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### 2. 打开项目
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```bash
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# 在 Android Studio 中：
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File -> Open -> 选择 skylink_android_app
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```
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### 3. 配置 SDK
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- 打开 `Tools -> SDK Manager`
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- 安装 Android SDK 34
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- 安装 NDK 26+（如需原生代码）
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### 4. 编译 APK
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```bash
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# 使用 Gradle (Android Studio 内)
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Build -> Build Bundle(s) / APK(s)
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# 或命令行
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cd skylink_android_app
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./gradlew build
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```
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### 5. 安装到设备
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```bash
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# 使用 ADB
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adb install -r app/build/outputs/apk/release/app-release.apk
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# 或在 Android Studio 中
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Run -> Run 'app'
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```
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---
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## 🐳 Docker 编译 (ROS 2 机载端)
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### 1. 安装 Docker
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```bash
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# Ubuntu
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sudo apt install docker.io docker-compose
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# 启动 Docker 服务
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sudo systemctl start docker
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sudo usermod -aG docker $USER
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```
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### 2. 构建镜像
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```bash
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cd ~/skylink
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docker-compose build ros2-bridge
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```
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### 3. 运行容器
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```bash
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docker-compose up -d ros2-bridge
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# 查看日志
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docker-compose logs -f ros2-bridge
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```
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---
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## ✅ 验证安装
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### 机载端
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```bash
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# 检查节点是否运行
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ros2 node list
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# 查看发布的 Topic
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ros2 topic list
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# 检查参数
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ros2 param list
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```
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### PC 端
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```bash
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# 启动地面站应用
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./skylink_station
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# 或调试模式
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gdb ./skylink_station
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```
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### 移动端
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```bash
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# 检查 APK 签名
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jarsigner -verify -verbose -certs app/build/outputs/apk/release/app-release.apk
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# 运行应用
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adb shell am start -n com.skylink.app/.MainActivity
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```
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---
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## 🔍 故障排查
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### 编译错误
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#### CMake 找不到 Qt 6
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```bash
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# 设置 Qt 6 路径
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cmake .. -DQt6_DIR=/path/to/Qt6/lib/cmake/Qt6
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```
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#### 缺少 OpenCV
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```bash
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# 重新安装 OpenCV
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sudo apt install libopencv-dev
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# 或从源代码编译
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```
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### 运行时错误
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#### UDP 端口被占用
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```bash
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# 查找占用端口的进程
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sudo lsof -i :9999
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# 修改配置文件中的端口
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# skylink_ros2/src/skylink_bridge/config/params.yaml
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```
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#### 相机设备找不到
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```bash
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# 列出可用的摄像头
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v4l2-ctl --list-devices
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# 检查权限
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sudo chmod 666 /dev/video0
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```
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---
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## 📚 参考资源
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- [ROS 2 官方文档](https://docs.ros.org/en/humble/)
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- [Qt 6 官方文档](https://doc.qt.io/)
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- [Android 开发指南](https://developer.android.com/docs)
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- [OpenCV 教程](https://docs.opencv.org/)
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---
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**需要帮助？** 请提交 Issue 或查看 [CONTRIBUTING.md](CONTRIBUTING.md)
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