I’m attempting to use my Nvidia Jeston Nano as a companion computer with my Pixhawk 6C Mini, but I’ve had issues getting the two to communicate with MAVLink via the serial GPIO pins on the Jetson Nano and the Telem2 port on the Pixhawk. I found this very handy guide for connecting a Jetson Nano with a Pixhawk 6C running PX4, but I got stuck when trying to build the px4_fmu-v6c_rtps firmware. It seems to be because I don’t have fastrtpsgen on my system, but I spent a few hours yesterday struggling to get that to build/install as well.
I’ve read on other forum posts that using a USB-TTL adapter solves the communication issue, so I should be receiving one tomorrow, but that still doesn’t solve my issue with building the firmware. Below is the output when I try to build the firmware, but if anyone has any thoughts or suggestions, I’d love to hear them. If there’s any other info I can provide as well, let me know.
-- PX4 version: v1.13.3-2-gcc26cf4121
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3")
-- PX4 config file: /home/david/PX4-Autopilot/boards/px4/fmu-v6c/rtps.px4board
-- PLATFORM nuttx
-- TOOLCHAIN arm-none-eabi
-- ARCHITECTURE cortex-m7
-- ROMFSROOT px4fmu_common
-- IO px4_io-v2_default
-- SERIAL_GPS1 /dev/ttyS0
-- SERIAL_GPS2 /dev/ttyS6
-- SERIAL_TEL1 /dev/ttyS5
-- SERIAL_TEL2 /dev/ttyS3
-- SERIAL_TEL3 /dev/ttyS1
-- UAVCAN_INTERFACES 2
-- UAVCAN_TIMER_OVERRIDE 2
-- PX4 config: px4_fmu-v6c_rtps
-- PX4 platform: nuttx
-- cmake build type: MinSizeRel
-- The CXX compiler identification is GNU 9.3.1
-- The C compiler identification is GNU 9.3.1
-- The ASM compiler identification is GNU
-- Found assembler: /opt/gcc-arm-none-eabi-9-2020-q2-update/bin/arm-none-eabi-gcc
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /opt/gcc-arm-none-eabi-9-2020-q2-update/bin/arm-none-eabi-g++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /opt/gcc-arm-none-eabi-9-2020-q2-update/bin/arm-none-eabi-gcc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Enabling double FP precision hardware instructions
-- drivers/px4io: ROMFS including px4_io-v2_default
CMake Deprecation Warning at src/drivers/uavcan/libuavcan/CMakeLists.txt:5 (cmake_minimum_required):
Compatibility with CMake < 2.8.12 will be removed from a future version of
CMake.
Update the VERSION argument <min> value or use a ...<max> suffix to tell
CMake that the project does not need compatibility with older versions.
CMake Deprecation Warning at src/drivers/uavcan/libuavcan/libuavcan/CMakeLists.txt:5 (cmake_minimum_required):
Compatibility with CMake < 2.8.12 will be removed from a future version of
CMake.
Update the VERSION argument <min> value or use a ...<max> suffix to tell
CMake that the project does not need compatibility with older versions.
-- Found PythonInterp: /usr/bin/python3 (found version "3.8.10")
-- Using C++11
-- Release build type: MinSizeRel
CMake Error at src/modules/micrortps_bridge/CMakeLists.txt:40 (message):
Unable to find fastrtpsgen
-- Configuring incomplete, errors occurred!
Error: /home/david/PX4-Autopilot/build/px4_fmu-v6c_rtps is not a directory
make: *** [Makefile:230: px4_fmu-v6c_rtps] Error