PX4固件之Ros实现Offboard节点控制

这部分跟ardupilot固件流程没有区别。
主要对Ros、Mavros、gazebo、Mavproxy等深入了解一下。
首先运行Px4的gazebo仿真

cd Firmware/
sudo make posix_sitl_default gazebo

运行mavros

roslaunch mavros px4.launch fcu_url:="udp://:[email protected]:14557"

出现 mission received，表示连接成功。

运行Offboard节点控制，无人机会解锁起飞2m

rosrun offboard offboard

代码如下：

/**
 * @file offb_node.cpp
 * @brief offboard example node, written with mavros version 0.14.2, px4 flight
 * stack and tested in Gazebo SITL
 */

#include <ros/ros.h>
#include <geometry_msgs/PoseStamped.h>
#include <mavros_msgs/CommandBool.h>
#include <mavros_msgs/SetMode.h>
#include <mavros_msgs/State.h>

mavros_msgs::State current_state;
void state_cb(const mavros_msgs::State::ConstPtr& msg){
   
    current_state = *msg;
}

int main(