PX4与仿真入门教程-安装dronedoc

PX4与仿真入门教程-安装dronedoc

说明：

• 介绍如何安装dronedoc

步骤：

• 安装gazebo，和搭建环境 参考PX4与仿真入门教程-安装px4
• 安装px4，参考PX4与仿真入门教程-安装GAAS
• 简化步骤如下：

mkdir ~/tools/dronedoc
cd ~/tools/dronedoc
git clone https://github.com/PX4/PX4-Autopilot.git  Firmware 
cd  Firmware 
git checkout v1.11.0-beta1
make distclean
make px4_sitl gazebo

• 效果图：

• 测试起飞命令

commander takeoff

• 起飞到10米，在自动降落
• 关闭之前的启动的gazebo
• 下载dronedoc

mkdir -p ~/tools/dronedoc/
cd  ~/tools/dronedoc/
git clone https://github.com/ncnynl/dronedoc dronedoc_src

• dronedoc目录包含dronedoc系列教程的所有例子和源码
• 整合ros，增加环境变量
• 新建load_environment.sh

cd ~/tools/dronedoc
vim load_environment.sh

• 内容如下：

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."

• 运行gazebo和ros

. load_environment.sh
roslaunch px4 mavros_posix_sitl.launch

• 解锁

rosservice call /mavros/cmd/arming "value: true"

• 起飞

rosservice call /mavros/cmd/takeoff "{min_pitch: 0.0, yaw: 0.0, latitude: 47.3977506, longitude: 8.5456074, altitude: 5}"

• gazebo，px4和ros的关系图

参考：

• https://uenota.github.io/dronedoc/en/px4sim/px4sim.html
• https://uenota.github.io/dronedoc/en/index.html
• https://github.com/uenota/dronedoc
• https://uenot.hatenablog.jp/