创建catkin包
cd catkin_ws/src
catkin_create_pkg test std_msgs rospy roscpp
新建script和launch文件夹
launch文件夹内放置.launch文件,script文件夹放置.py文件
<launch>
<node pkg = "test" name = "pub_goal_iris_0" type = "goal.py" args = "iris_0">
</launch>
XTDrone更换场景模型
模型连接:https://github.com/ctu-mrs/mrs_gazebo_common_resources
启动文件
cd ~/PX4_Firmware; roslaunch px4 indoor1.launch
更换.world文件
将.world文件放入~/PX4_Firmware/Tools/sitl_gazebo/worlds/
文件夹
添加模型文件
将model文件夹放入~/PX4_Firmware/Tools/sitl_gazebo/models/tree_simple
文件夹