/px4_mavros

Primary LanguageCMake

px4_mavros

实现功能：无人机在Gazebo仿真环境下，解锁并起飞到2米高度。

一 环境

主机环境：ubuntu 18.04 LTS
ROS版本：melodic
飞控：Pixhawk 1

二 前置工作

  • 1 在ubuntu操作系统上安装好ROS，并完成初始化、环境变量和工作空间的配置。
  • 2 下载好PX4源码：https://github.com/PX4/Firmware

三 安装MAVROS包

sudo apt install ros-melodic-mavros ros-melodic-mavros-extras
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
./install_geographiclib_datasets.sh

四 源码编译

cd ~/catkin_ws/src
git clone https://github.com/mavlink/mavros.git

cd ..
catkin_make

五 安装依赖包

sudo apt install ros-melodic-mavlink
sudo apt install ros-melodic-geometry
sudo apt install ros-melodic-control-toolbox
sudo apt install libgeographic-dev
sudo apt install geographiclib-tools

cd ~/catkin_ws/src/mavros/mavros/scripts/
sudo ./install_geographiclib_datasets.sh

六 编写offboard程序

  • 1 建立offboard程序包
    cd ~/catkin_ws/src
    catkin_create_pkg offb roscpp mavros geometery_msgs

  • 2 编写offboard程序
    cd ~/catkin_ws/src/offb/src
    vim offb_node.cpp

复制本例程中的src/offb_node.cpp代码。

  • 3 修改CmakeLists
    cd ~/catkin_ws/src/offb
    vim CmakeLists.txt
include_directories(  
#include  
  ${catkin_INCLUDE_DIRS}  
)  
  
add_executable(offb_node src/offb_node.cpp)  

target_link_libraries(offb_node  
  $(catkin_LIBRARIES}  
)

七 编译

  • 1 编译
    cd ~/catkin_ws
    catkin_make

八 仿真测试

  • 1 终端1：启动gazebo仿真环境
    cd ~/src/Firmware
    make posix_sitl_default gazebo

  • 2 终端2：运行mavros
    roslaunch mavros px4.launch fcu_url:="udp://:14540@127.0.0.1:14557"

  • 3 终端3：启动offboard控制程序
    source ~/catkin_ws/devel/setup.bash
    rosrun offb offb_node