带你玩转PX4无人机仿真(1) |
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带你玩转PX4无人机仿真(1)
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目录
一. 创建功能包二. 编译运行修改官方代码参考
前言： 本次教程是官方提供的 MAVROS Offboard (板外) 控制示例，使用之前请搭建好 PX4 仿真环境 注：搭建仿真环境可以看下面教程👇 ubuntu搭建PX4无人机仿真环境(1) —— 概念介绍 ubuntu搭建PX4无人机仿真环境(2) —— MAVROS安装 ubuntu搭建PX4无人机仿真环境(3) —— ubuntu安装QGC地面站 ubuntu搭建PX4无人机仿真环境(4) —— 仿真环境搭建 ubuntu安装ROS melodic(最新、超详细图文教程) 一. 创建功能包没有创建工作空间，可以执行下列代码，如果创建了可以跳过（如果是跟着我之前的教程，那就不用执行这一步） 注： catkin_make 与 catkin build 是编译功能包的两种方式，catkin_make 用的多一点，有兴趣的话可以看看它们的区别 👉 Migrating from catkin_make — catkin_tools mkdir -p ~/catkin_ws/src cd catkin_ws/src && catkin_init_workspace # 使用catkin build话，则为cd catkin_ws && catkin init cd .. && catkin_make# 使用catkin build话，则为 catkin build # 再将 source ~/catkin_ws/devel/setup.bash 提案加到 .bashrc 文件中在工作空间下新建一个 off_node 功能包 cd ~/catkin_ws/src catkin_create_pkg off_node roscpp std_msgs geometry_msgs mavros_msgs创建好后目录大致是下图所示： 在 off_node 功能包下的 src 目录下新建一个 offb_node.cpp 文件，将下列官方提供的代码复制进去（代码详解可以看官方的代码解释 MAVROS Offboard 控制示例 (C++) | PX4 自动驾驶用户指南 ） /** * @file offb_node.cpp * @brief Offboard control example node, written with MAVROS version 0.19.x, PX4 Pro Flight * Stack and tested in Gazebo Classic SITL */ #include #include #include #include #include mavros_msgs::State current_state; void state_cb(const mavros_msgs::State::ConstPtr& msg){ current_state = *msg; // 无人机当前状态 } int main(int argc, char **argv) { ros::init(argc, argv, "offb_node"); ros::NodeHandle nh; ros::Subscriber state_sub = nh.subscribe ("mavros/state", 10, state_cb); ros::Publisher local_pos_pub = nh.advertise ("mavros/setpoint_position/local", 10); ros::ServiceClient arming_client = nh.serviceClient ("mavros/cmd/arming"); ros::ServiceClient set_mode_client = nh.serviceClient ("mavros/set_mode"); //the setpoint publishing rate MUST be faster than 2Hz ros::Rate rate(20.0); // wait for FCU connection while(ros::ok() && !current_state.connected){ ros::spinOnce(); rate.sleep(); } geometry_msgs::PoseStamped pose; pose.pose.position.x = 0; pose.pose.position.y = 0; pose.pose.position.z = 2; //send a few setpoints before starting for(int i = 100; ros::ok() && i > 0; --i){ local_pos_pub.publish(pose); ros::spinOnce(); rate.sleep(); } mavros_msgs::SetMode offb_set_mode; offb_set_mode.request.custom_mode = "OFFBOARD"; mavros_msgs::CommandBool arm_cmd; arm_cmd.request.value = true; ros::Time last_request = ros::Time::now(); while(ros::ok()){ if( current_state.mode != "OFFBOARD" && (ros::Time::now() - last_request > ros::Duration(5.0))){ // 切换 Offboard 模式 if( set_mode_client.call(offb_set_mode) && offb_set_mode.response.mode_sent){ ROS_INFO("Offboard enabled"); } last_request = ros::Time::now(); } else { if( !current_state.armed && (ros::Time::now() - last_request > ros::Duration(5.0))){ //无人机解锁 if( arming_client.call(arm_cmd) && arm_cmd.response.success){ ROS_INFO("Vehicle armed"); } last_request = ros::Time::now(); } } local_pos_pub.publish(pose); // 发送目标点位置 ros::spinOnce(); rate.sleep(); } return 0; }将下面内容添加到 off_node 功能包下的 CMakeLists.txt 文件里 add_executable(offb_node src/offb_node.cpp) target_link_libraries(offb_node ${catkin_LIBRARIES})
编译成功后，为了使用方便可以写一个 offb.sh 脚本来启动仿真 touch offb.sh将下面代码复制上去 #!/bin/bash source ~/.bashrc gnome-terminal --window -e 'bash -c "roscore; exec bash"' \ --tab -e 'bash -c "sleep 5; roslaunch px4 mavros_posix_sitl.launch; exec bash"' \ --tab -e 'bash -c "sleep 10; rosrun off_node offb_node; exec bash"' \运行 chmod +x offb.sh ./offb.sh
官方的示例代码会一直悬停不会降落，我们可以修改 offb_node.cpp 文件，加个降落的功能，代码如下： /** * @file offb_node.cpp * @brief Offboard control example node, written with MAVROS version 0.19.x, PX4 Pro Flight * Stack and tested in Gazebo Classic SITL */ #include #include #include #include #include using namespace std; mavros_msgs::State current_state; geometry_msgs::PoseStamped curr_pos; // 无人机当前位置 // 获取无人机当前状态 void state_cb(const mavros_msgs::State::ConstPtr& msg){ current_state = *msg; } // 获取无人机当前位置 void arrive_pos(const geometry_msgs::PoseStamped::ConstPtr& msg){ curr_pos = *msg; } int main(int argc, char **argv) { ros::init(argc, argv, "offb_node"); ros::NodeHandle nh; ros::Subscriber state_sub = nh.subscribe ("mavros/state", 10, state_cb); ros::Publisher local_pos_pub = nh.advertise ("mavros/setpoint_position/local", 10); ros::ServiceClient arming_client = nh.serviceClient ("mavros/cmd/arming"); ros::ServiceClient set_mode_client = nh.serviceClient ("mavros/set_mode"); // 订阅无人机的位置话题 ros::Subscriber local_pos_sub = nh.subscribe ("mavros/local_position/pose",10,arrive_pos); //the setpoint publishing rate MUST be faster than 2Hz ros::Rate rate(20.0); // wait for FCU connection while(ros::ok() && !current_state.connected){ ros::spinOnce(); rate.sleep(); } geometry_msgs::PoseStamped pose; // 目标位置 pose.pose.position.x = 0; pose.pose.position.y = 0; pose.pose.position.z = 2; //send a few setpoints before starting for(int i = 100; ros::ok() && i > 0; --i){ local_pos_pub.publish(pose); ros::spinOnce(); rate.sleep(); } mavros_msgs::SetMode offb_set_mode; offb_set_mode.request.custom_mode = "OFFBOARD"; mavros_msgs::CommandBool arm_cmd; arm_cmd.request.value = true; ros::Time last_request = ros::Time::now(); int count = 0; // 计时 bool flag = true; while(ros::ok()){ if( flag ) { if( current_state.mode != "OFFBOARD" && (ros::Time::now() - last_request > ros::Duration(5.0))){ if( set_mode_client.call(offb_set_mode) && offb_set_mode.response.mode_sent){ ROS_INFO("Offboard enabled"); } last_request = ros::Time::now(); } else { if( !current_state.armed && (ros::Time::now() - last_request > ros::Duration(5.0))){ if( arming_client.call(arm_cmd) && arm_cmd.response.success){ ROS_INFO("Vehicle armed"); } // arm last_request = ros::Time::now(); } } // else } // flag // 当检测到与目标高度相差 ± 0.3 就开始悬停 30s if(fabs(curr_pos.pose.position.z - pose.pose.position.z) = 600) // 30s { mavros_msgs::SetMode land_set_mode; land_set_mode.request.custom_mode = "AUTO.LAND"; // 发送降落命令 if(set_mode_client.call(land_set_mode) && land_set_mode.response.mode_sent){ flag = false; } } } //任务结束,无人机降落完成并关闭该节点 if ( !flag && current_state.mode == "AUTO.LAND" && current_state.armed == false ) { ROS_INFO("Drone has landed"); ros::shutdown(); } local_pos_pub.publish(pose); ros::spinOnce(); rate.sleep(); } return 0; }修改完后，直接编译运行，下面👇视频是运行效果 PX4无人机仿真示例 参考MAVROS Offboard 控制示例 (C++) | PX4 自动驾驶用户指南 PX4 与 MAVROS 实现offboard_rtt too high for timesync_manbushuizhong的博客-CSDN博客 如有其他问题，或者发现文章有错误，请在评论区留言 Keep learning！ |
（无人机会切换到 Offboard 模式起飞两米，然后一直悬停）【本文地址】
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