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说在前面：（最好找一个干净的Ubuntu系统）如果配置环境的过程中出现很多编译的错误或者依赖冲突，还是建议新建一个虚拟机，或者重装Ubuntu系统，这样会避免很多麻烦💐 ， 安装PX4 1.13.2 的参考文档如下，本篇内容是根据参考文档出现的问题进行补充。

https://www.yuque.com/xtdrone/manual_cn/basic_config_13

注意：安装PX4的时候一定要自己 git clone ！！！👇

Ubuntu20.04默认没有python2 和 pip2 所以需要先安装这两个：

1. python2 & python3

https://blog.csdn.net/qq_44848795/article/details/131277985
博主默认设置的是python = python2

2. pip2 for python2.7

sudo curl https://bootstrap.pypa.io/pip/2.7/get-pip.py --output get-pip.py

sudo python2 get-pip.py

3. pip insall -i

清华源

-i https://pypi.tuna.tsinghua.edu.cn/simple

4. ubuntu sources.list 替换为阿里云

sources.list更换为清华源会提示不安全的引用，所以博主这里选择用阿里云，没什么问题。

https://developer.aliyun.com/mirror/ubuntu?spm=a2c6h.13651102.0.0.3e221b11caqLOP

sudo gedit /etc/apt/sources.list

# Ubuntu20.04
deb https://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
deb-src https://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiversedeb https://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
deb-src https://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiversedeb https://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
deb-src https://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse# deb https://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse
# deb-src https://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiversedeb https://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
deb-src https://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse

5.鱼香ROS

wget http://fishros.com/install -O fishros && . fishros

6. 安装Gazebo11

安装之前，先把这个包的版本换一下，不然会出错

pip3 uninstall empy
pip3 install empy==3.3.4

https://blog.csdn.net/Jenniehubby/article/details/134780066#t1

7.问题

解决： 找个那个文件，删掉 *_ 即可。