PX4无人机ROS下仿真开发

PX4无人机ROS下仿真开发

• Overview

• Simulation

• Px4_control

• Slam

• Map

• Image_process

• Planning

• Volans

项目地址volans
注：有任何疑问都可在issues提问:)

Simulation

此simulation 包含2D、3D激光雷达模型、深度相机模型、双目相机模型、realsense相机模型、IRlock相机模型。

• 配置PX4以及ros环境

• 编译工作空间，运行launch文件

配置PX4以及ros环境

建议安装Ubuntu18.04 ,gazebo9

这里给出ubuntu18.04安装步骤

ROS

for ubuntu18.04 melodic

1. 添加ros源到 sources.list.

   sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
   sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
   sudo apt update
   

2. 安装的ros

   sudo apt-get install ros-melodic-desktop
   
   # Source ROS
   echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
   source ~/.bashrc
   

   并安装ros下gazebo9相关的包

   sudo apt install ros-melodic-gazebo9*
   

3. 初始化ros.

   rosdep init
   rosdep update
   

4. 安装catkin编译器.

   sudo apt-get install ros-melodic-catkin python-catkin-tools
   

5. 安装mavros

   参考于 . https://dev.px4.io/en/ros/mavros_installation.html

   sudo apt install ros-melodic-mavros ros-melodic-mavros-extras
   

6. 安装mavros相关的 geographiclib dataset

   wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh