mavros 使用记录

在实验中希望通过mavros来利用tx2控制px4的无人，因此需要首先进行仿真，对整个环境的配置过程进行记录。

1. ros安装

这个参考官网教程，不要安装阉割版本

2.mavros安装

sudo apt install ros-melodic-mavros ros-melodic-mavros-extras
roscd mavros
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
sudo chmod a+x ./install_geographiclib_datasets.sh
./install_geographiclib_datasets.sh 

3.px4配置

我们只需要安装仿真模块，所以不需要进行交叉编译

#下载模块
git clone https://github.com/PX4/Firmware
mv Firmware PX4_Firmware
cd PX4_Firmware
git checkout -b xtdrone/dev v1.11.0-beta1
git submodule update --init --recursive
#安装依赖
cd PX4_Firmware
bash
bash ./Tools/setup/ubuntu.sh --no-nuttx --no-sim-tools
#编译
make px4_sitl_default gazebo
#修改~/.bashrc文件
source ~/PX4_Firmware/Tools/setup_gazebo.bash ~/PX4_Firmware/ ~/PX4_Firmware/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4_Firmware
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4_Firmware/Tools/sitl_gazebo

4.运行仿真

roslaunch px4 mavros_posix_sitl.launch

5.通过串口进行与px4进行通信

roslaunch mavros px4.launch fcu_url:=/dev/ttyUSB0:921600