QGroundControl@Jetson Orin Nano - 从代码编译安装

lida2003

已于 2024-06-29 17:45:56 修改

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分类专栏： Linux ArduPilot 文章标签： linux Jetson

于 2024-06-29 17:42:57 首次发布

本文链接：https://blog.csdn.net/lida2003/article/details/140066960

QGroundControl@Jetson Orin Nano - Build from Source

1. 源由
2. 步骤
3. 可行方案
4. 总结
5. 补充 - 问题清单

1. 源由

先说结论：直接从QGroundControl代码在Jetson Orin Nano板子上编译不成功！

按照以下文档中的步骤和方法进行编译，最后卡在：

/home/daniel/QGC/qgroundcontrol/libs/qmlglsink/qt6/gstqt6glutility.cc: In function ‘GstGLDisplay* gst_qml6_get_gl_display(gboolean)’:
/home/daniel/QGC/qgroundcontrol/libs/qmlglsink/qt6/gstqt6glutility.cc:94:62: error: ‘QX11Application’ is not a member of ‘QNativeInterface’; did you mean ‘QWaylandApplication’?
   94 |     auto x11_native = app->nativeInterface<QNativeInterface::QX11Application>();
      |                                                              ^~~~~~~~~~~~~~~
      |                                                              QWaylandApplication
/home/daniel/QGC/qgroundcontrol/libs/qmlglsink/qt6/gstqt6glutility.cc:94:79: error: no matching function for call to ‘QGuiApplication::nativeInterface<<expression error> >()’
   94 |     auto x11_native = app->nativeInterface<QNativeInterface::QX11Application>();
      |                                                                               ^
In file included from /home/daniel/QGC/qt6/qt6-install/include/QtCore/qcoreapplication.h:16,
                 from /home/daniel/QGC/qt6/qt6-install/include/QtGui/qguiapplication.h:8,
                 from /home/daniel/QGC/qt6/qt6-install/include/QtGui/QGuiApplication:1,
                 from /home/daniel/QGC/qgroundcontrol/libs/qmlglsink/qt6/gstqt6glutility.cc:26:
/home/daniel/QGC/qt6/qt6-install/include/QtGui/qguiapplication.h:142:5: note: candidate: ‘template<class NativeInterface, class TypeInfo, class BaseType, typename std::enable_if<TypeInfo::isCompatibleWith<QGuiApplication>, bool>::type <anonymous> > NativeInterface* QGuiApplication::nativeInterface() const’
  142 |     QT_DECLARE_NATIVE_INTERFACE_ACCESSOR(QGuiApplication)
      |     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/daniel/QGC/qt6/qt6-install/include/QtGui/qguiapplication.h:142:5: note:   template argument deduction/substitution failed:
/home/daniel/QGC/qgroundcontrol/libs/qmlglsink/qt6/gstqt6glutility.cc:94:79: error: template argument 1 is invalid
   94 |     auto x11_native = app->nativeInterface<QNativeInterface::QX11Application>();
      |                                                                               ^
At global scope:
cc1plus: warning: unrecognized command line option ‘-Wno-unused-private-field’
ninja: build stopped: subcommand failed.

2. 步骤

注：/path/to/install是安装路径，请根据实际需要进行安装目录调整。

2.1 QT 编译

注：推荐使用6.6.3版本，但是笔者也试过5.15.2

QGC最新master(5a348d3) + QT6.6.3 ==》失败
QGC-Stable4.4 + QT6.6.3 ==》失败
QGC-Stable4.4 + QT5.15.2 ==》失败

2.1.1 下载

$ git clone git://code.qt.io/qt/qt5.git qt6

2.1.2 版本

$ cd qt6
$ git checkout 6.6.3

2.1.3 初始化

$ perl init-repository

2.1.4 配置

$ mkdir qt6-build
$ ./configure -prefix /path/to/install

2.1.5 编译

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