這部分ros發佈的命令話題參考的是PX4固件最基本的Offboard_node節點,命令發佈後,能夠連接並解鎖,但是無法起飛,這裏應該是poses發佈出去的位置有問題,這裏下一步需要繼續理解一下。
整個過程有點長,我分成兩部分下,先寫環境配置相關的,下一篇寫如何運行。
Mavros安裝
ROS與Mavlink的通信需要通過Mavros,首先進行Mavros的安裝。我這裏採用二進制簡單的安裝。參考官網:https://ardupilot.org/dev/docs/ros-install.html#installing-mavros
裝Mavros
sudo apt-get install ros-kinetic-mavros ros-kinetic-mavros-extras
裝依賴
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
chmod a+x install_geographiclib_datasets.sh
./install_geographiclib_datasets.sh
裝rqt
sudo apt-get install ros-kinetic-rqt ros-kinetic-rqt-common-plugins ros-kinetic-rqt-robot-plugins
測試Mavros
//APM
roslaunch mavros apm.launch
//PX4
roslaunch mavros px4.launch
如果未連接硬件的話,會報如下錯誤,正常現象:
[FATAL] [1585652051.956903253]: FCU: DeviceError:serial:open: No such file or directory
================================================================================REQUIRED process [mavros-1] has died!
process has finished cleanly
log file: /home/myz/.ros/log/0cbdfa56-7335-11ea-9dc7-68071588544b/mavros-1*.log
Initiating shutdown!
================================================================================
修改Mavros
Ros的運行,也是參考官網內容:
https://ardupilot.org/dev/docs/ros-sitl.html
因爲模擬仿真,所以要將默認串口進行修改:
這一步是將apm.launch複製到launch中,方便修改。
mkdir launch
cd launch
roscp mavros apm.launch apm.launch
修改:
gedit apm.launch
把default中的串口改成如下:
udp://127.0.0.1:14551@14555
運行Mavros
首先運行Ardupilot的SITL仿真
sim_vehicle.py -v ArduCopter -f gazebo-iris -m --mav10 --map --console -I0
然後運行Gazebo的模擬仿真
gazebo --verbose worlds/iris_arducopter_runway.world
然後進入launch,運行apm.launch
roslaunch apm.launch
成功會進入一個類似roscore的進程,提示飛機類型及相關信息後,表示連接成功。