PX4与仿真入门教程-安装volans

PX4与仿真入门教程-安装volans

说明：

• 介绍如何安装安装volans
• volans项目基于https://gitee.com/bingobinlw/volans
• 在此版本基础上制作此教程的部分内容，同时源码也有小量改动和增减

步骤：

• 安装依赖包

sudo apt install ros-melodic-ddynamic-reconfigure

• 二维码识别相关包

sudo apt install ros-melodic-ar-track-alvar*

• 3Dlidar仿真相关的插件包

sudo apt install ros-melodic-velodyne-gazebo-plugins

• 运动规划相关的包

sudo apt install ros-melodic-moveit  ros-melodic-nav-core ros-melodic-move-base

• darknet_ros 相关包

sudo apt  install ros-melodic-cv-bridge

• ompl相关包

sudo apt install ros-melodic-ompl*
sudo apt install libfcl-dev libompl-dev

• 把ompl库添加到路径中 这里也可以在cmakelist.txt中把路径添加进去

cd /opt/ros/melodic/include
sudo cp -a ompl-1.4/ompl ompl

• octomap相关包

sudo apt install ros-melodic-octomap*

• 下载volans

cd ~/tools/
git clone https://gitee.com/ncnynl/volans

• 编译firmware
• 使用volans使用独立的PX4-Autopilot版本

cd ~/tools/
cp -r PX4-Autopilot volans/Firmware 
cd volans/Firmware 
git checkout v1.11.0-beta1   
make distclean
make px4_sitl_default gazebo

• 编译volans

cd volans
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
catkin build simulation px4_control ros_slam octomap ros_vision path_planning ros_navigation explore_lite

• 加载环境，并添加到bashrc文件

source load_enviroment.sh

• 如果是有多个仿真环境，不需要添加到bashrc，可以采用如下方式手动加载
• 新建vim load_volans_env.sh
• 内容如下：

cp $(pwd)/src/simulation/resource/1061_amovCar $(pwd)/Firmware/ROMFS/px4fmu_common/init.d-posix/
source $(pwd)/devel/setup.bash
export GAZEBO_MODEL_PATH=:$(pwd)/src/simulation/models
source $(pwd)/Firmware/Tools/setup_gazebo.bash $(pwd)/Firmware $(pwd)/Firmware/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Firmware
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Firmware/Tools/sitl_gazebo
echo "SUCCEED."

• 赋予权限

sudo chmod +x load_volans_env.sh

• 执行加载

source load_volans_env.sh

测试：

• 启动gazebo

source load_volans_env.sh
roslaunch simulation circular_px4.launch