ROS、pix4、gazebo、qgc仿真ubuntu20.04

发布于:2024-07-23 ⋅ 阅读:(198) ⋅ 点赞:(0)

一、ubuntu、ros安装教程比较多,此文章不做详细讲解。该文章基于ubuntu20.04系统。

        pix4参考地址:https://docs.px4.io/main/zh/index.html

二、安装pix4

1. git clone https://github.com/PX4/PX4-Autopilot.git --recursive
2. bash ./PX4-Autopilot/Tools/setup/ubuntu.sh 
3. sudo apt-get install protobuf-compiler libeigen3-dev libopencv-dev -y

更新一下,完成后重启系统

测试进入下载的PX4-Autopilot文件夹内

make px4_sitl_default gazebo

 

端输入 commander takeoff ,可以看到无人机起飞
终端输入 commander land , 可以看到无人机降落

添加环境变量(添加到~/.bashrc文件中)

source ~/PX4-Autopilot/Tools/simulation/gazebo-classic/setup_gazebo.bash ~/PX4-Autopilot ~/PX4-Autopilot/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic
此处换成自己的路径

二、安装mavros

sudo apt-get install ros-noetic-mavros ros-noetic-mavros-extras
sudo /opt/ros/noetic/lib/mavros/install_geographiclib_datasets.sh

测试

roslaunch mavros px4.launch

出现[FATAL] [1711808359.038923077]: FCU: DeviceError:serial:open: No such file or directory
================================================================================REQUIRED process [mavros-2] has died!
process has finished cleanly
log file: /home/ikun/.ros/log/7ee08aa0-eea0-11ee-ba0c-85043e8d2678/mavros-2*.log
Initiating shutdown!
================================================================================不要紧张没有连接真机

三、安装qgc

https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html

四、pix4仿真

roslaunch px4 mavros_posix_sitl.launch

五、更换为自己的世界地图

在PX4-Autopilot目录下搜索PX4-Autopilot,将里面的empty.world换成自己的世界模型,世界模型可以用3D软件转成ros支持的格式,拿gazebo打开保存为世界模型文件。

六、效果图

七、参考文章

ROS (1) with MAVROS Installation Guide | PX4 Guide (main)

http://t.csdnimg.cn/6Yw4Q