这一步是要把初始环境改成白色地板环境,跑仿真或者基于地标降落的时候更容易观察,让人看着也比较舒服。这一步只需要修改下面代码
原代码:(初始环境)
<?xml version="1.0" ?>
<sdf version="1.5">
<world name="default">
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
</include>
<include>
<uri>model://asphalt_plane</uri>
</include>
<physics name='default_physics' default='0' type='ode'>
<gravity>0 0 -9.8066</gravity>
<ode>
<solver>
<type>quick</type>
<iters>10</iters>
<sor>1.3</sor>
<use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
</solver>
<constraints>
<cfm>0</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>100</contact_max_correcting_vel>
<contact_surface_layer>0.001</contact_surface_layer>
</constraints>
</ode>
<max_step_size>0.004</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>250</real_time_update_rate>
<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
</physics>
</world>
</sdf>
地板环境:
<?xml version="1.0" ?>
<sdf version="1.4">
<world name="default">
<include>
<uri>model://ground_plane</uri>
</include>
<include>
<uri>model://sun</uri>
</include>
<include>
<uri>model://cafe_table</uri>
<name>table1</name>
<pose>3 4 0 0 0 0</pose>
</include>
<include>
<uri>model://land_mark</uri>
<name>landmark1</name>
<pose>1 1 0 0 0 0</pose>
</include>
<physics name='default_physics' default='0' type='ode'>
<gravity>0 0 -9.8066</gravity>
<ode>
<solver>
<type>quick</type>
<iters>10</iters>
<sor>1.3</sor>
<use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
</solver>
<constraints>
<cfm>0</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>100</contact_max_correcting_vel>
<contact_surface_layer>0.001</contact_surface_layer>
</constraints>
</ode>
<max_step_size>0.004</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>250</real_time_update_rate>
<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
</physics>
</world>
</sdf>
如果是新建了一个文件,还有一个需要修改的地方是~/PX4-Autopilot/launch/mavros_posix_sitl.launch文件
这里把empty.world改成empty_zone.world(新文件的名字)
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty_zone.world"/>
最后,重新运行px4就可以进入到新的仿真环境中了!