XTDrone仿真
运行PX4仿真
cd ~/PX4_Firmware
roslaunch px4 mavros_posix_sitl.launch
通过下条命令查看是否成功
rostopic echo /mavros/state
若成功则话题显示如下
---
header:
seq: 11
stamp:
secs: 1827
nsecs: 173000000
frame_id: ''
connected: True
armed: False
guided: False
manual_input: True
mode: "MANUAL"
system_status: 3
---
仿真进阶
QT键盘控制PX4飞行
问题1:
WARN] [1621669561.882912544, 302.484000000]: CMD: Unexpected command 176, result 0
解决1:
在offboard模式,目标点必须以一定的频率源源不断地发送
将realsense-D435I应用到无人机仿真
在devel/lib/目录下找到:
librealsense_gazebo_plugin.so
将其放入到/opt/ros/melodic/lib/目录下