【UAV仿真】在ROS中实现无人机沿自定义圆形轨迹飞行（PX4+MAVROS+Gazebo）

本博客将介绍如何在ROS中，结合MAVROS包，创建一个无人机控制节点，使无人机能够沿着预设轨迹（如圆形）飞行。本教程假设您已经安装了ROS和MAVROS包。

1.创建ROS包

首先，我们需要创建一个新的ROS包。在您的工作空间中的src目录下执行以下命令：

catkin_create_pkg my_offboard_node roscpp mavros_msgs geometry_msgs

2. 编写代码

在 my_offboard_node包中创建两个文件：offb_node.cpp 和 CircularTrajectory.h。

2.1. offb_node.cpp

将以下代码保存为 my_offboard_node/src/offb_node.cpp：

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

// 全局状态变量
mavros_msgs::State current_state;
void state_cb(const mavros_msgs::State::ConstPtr& msg){
    current_state = *msg;
}

int main(int argc, char **argv)
{
    ros::init(argc, argv, "offb_node");
    ros::NodeHandle nh;

    ros::Subscriber state_sub = nh.subscribe<mavros_msgs::State>("mavros/state", 10, state_cb);
    ros::Publisher local_pos_pub = nh.advertise<geometry_msgs::PoseStamped>("mavros/setpoint_position/local", 10);
    ros::ServiceClient arming_client = nh.serviceClient<mavros_msgs::CommandBool>("mavros/cmd/arming");
    ros::ServiceClient set_mode_client = nh.serviceClient<mavros_msgs::SetMode>("mavros/set_mode");

    // 设置发布速率大于2Hz
    ros::Rate rate(20.0);

    // 等待与飞控的连接
    while(ros::ok() && !current_state.connected){
        ros::spinOnce();
        rate.sleep();
    }

    // 创建轨迹对象
    CircularTrajectory trajectory(5.0, 0.0, 0.0, 2.5, 0.1);

    // 发送几个设置点以启动
    geometry_msgs::PoseStamped pose;
    for(int i = 100; ros::ok() && i > 0; --i){
        pose = trajectory.calculate_pose(0); // 使用初始位置
        local_pos_pub.publish(pose);
        ros::spinOnce();
        rate.sleep();
    }

    mavros_msgs::SetMode offb_set_mode;
    offb_set_mode.request.custom_mode = "OFFBOARD";

    mavros_msgs::CommandBool arm_cmd;
    arm_cmd.request.value = true;

    ros::Time last_request = ros::Time::now();

    while(ros::ok()){
        if( current_state.mode != "OFFBOARD" &&
            (ros::Time::now() - last_request > ros::Duration(5.0))){
            if( set_mode_client.call(offb_set_mode) &&
                offb_set_mode.response.mode_sent){
                ROS_INFO("Offboard enabled");
            }
            last_request = ros::Time::now();
        } else {
            if( !current_state.armed &&
                (ros::Time::now() - last_request > ros::Duration(5.0))){
                if( arming_client.call(arm_cmd) &&
                    arm_cmd.response.success){
                    ROS_INFO("Vehicle armed");
                }
                last_request = ros::Time::now();
            }
        }

        double elapsed = (ros::Time::now() - last_request).toSec();
        pose = trajectory.calculate_pose(elapsed);

        local_pos_pub.publish(pose);

        ros::spinOnce();
        rate.sleep();
    }

    return 0;
}

2.2. CircularTrajectory.h

创建一个头文件来定义轨迹类。将以下内容保存为 my_offboard_node/include/my_offboard_node/CircularTrajectory.h：

#ifndef CIRCULAR_TRAJECTORY_H
#define CIRCULAR_TRAJECTORY_H

#include <geometry_msgs/PoseStamped.h>
#include <math.h>

// 轨迹基类
class Trajectory {
public:
    virtual geometry_msgs::PoseStamped calculate_pose(double time) = 0;
};

// 圆形轨迹
class CircularTrajectory : public Trajectory {
    double radius, center_x, center_y, altitude, angular_velocity;

public:
    CircularTrajectory(double r, double x, double y, double z, double w)
        : radius(r), center_x(x), center_y(y), altitude(z), angular_velocity(w) {}

    geometry_msgs::PoseStamped calculate_pose(double time) override {
        geometry_msgs::PoseStamped pose;
        double theta = angular_velocity * time;
        pose.pose.position.x = center_x + radius * cos(theta);
        pose.pose.position.y = center_y + radius * sin(theta);
        pose.pose.position.z = altitude;
        return pose;
    }
};
#endif // CIRCULAR_TRAJECTORY_H

3. 编写CMakeLists.txt

修改 CMakeLists.txt 来编译节点。将以下内容添加到 my_offboard_node/CMakeLists.txt文件中：

cmake_minimum_required(VERSION 2.8.3)
project(my_offboard_node)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  mav
os_msgs
geometry_msgs
)

catkin_package()

include_directories(
${catkin_INCLUDE_DIRS}
include
)

add_executable(offb_node src/offb_node.cpp)
target_link_libraries(offb_node ${catkin_LIBRARIES})

4. 创建Launch文件

为了方便运行节点，创建一个launch文件。在 my_offboard_node/launch 目录下创建一个名为 offb_node.launch 的文件，并添加以下内容：

<launch>
    <node name="offb_node" pkg="my_offboard_node" type="offb_node" output="screen"/>
</launch>

5. 编译和运行

编译ROS包。在工作空间中运行以下命令：

catkin_make

编译完成后，不要忘记运行source devel/setup.bash 来更新环境。

最后，可以通过运行以下命令来启动节点：

roslaunch my_offboard_node offb_node.launch