PX4与仿真入门教程-测试启动各种模型

PX4与仿真入门教程-测试启动各种模型

说明：

• 介绍如何测试启动各种模型

步骤：

• 列出所有的模型

make px4_sitl list_vmd_make_targets

• 通用模型清单

Vehicle                                      Command
Quadrotor                                make px4_sitl gazebo
Quadrotor with Optical Flow              make px4_sitl gazebo_iris_opt_flow
3DR Solo (Quadrotor)                     make px4_sitl gazebo_solo
Typhoon H480 (Hexrotor) (supports video streaming)  make px4_sitl gazebo_typhoon_h480
Standard Plane                                      make px4_sitl gazebo_plane
Standard Plane (with catapult launch)               make px4_sitl gazebo_plane_catapult
Standard VTOL                                       make px4_sitl gazebo_standard_vtol
Tailsitter VTOL                                     make px4_sitl gazebo_tailsitter
Ackerman vehicle (UGV/Rover)                        make px4_sitl gazebo_rover
HippoCampus TUHH (UUV: Unmanned Underwater Vehicle) make px4_sitl gazebo_uuv_hippocampus
Boat (USV: Unmanned Surface Vehicle)                make px4_sitl gazebo_boat
Cloudship (Airship)                                 make px4_sitl gazebo_cloudship

• 可能异常和修复：

1. How to fix “libcurl: (51) SSL: no alternative certificate subject name matches target host name ‘api.ignitionfuel.org'”
https://varhowto.com/how-to-fix-libcurl-51-ssl-no-alternative-certificate-subject-name-matches-target-host-name-api-ignitionfuel-org-gazebo-ubuntu-ros-melodic/

2. [Err] [ModelDatabase.cc:390] Unable to parse model.config for model[http://gazebosim.org/models/bin_4_dropping_task]
https://github.com/osrf/gazebo/issues/2934

• 修改启动异常，添加变量

export GAZEBO_MASTER_URI=http://localhost:11345
export GAZEBO_MODEL_DATABASE_URI=
export GAZEBO_RESOURCE_PATH=/usr/share/gazebo-9:${GAZEBO_RESOURCE_PATH}
export GAZEBO_PLUGIN_PATH=/usr/lib/x86_64-linux-gnu/gazebo-9/plugins:${GAZEBO_PLUGIN_PATH}
export GAZEBO_MODEL_PATH=/usr/share/gazebo-9/models:${GAZEBO_MODEL_PATH}
export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/lib/x86_64-linux-gnu/gazebo-9/plugins
export OGRE_RESOURCE_PATH=/usr/lib/x86_64-linux-gnu/OGRE-1.9.0

• 启动模型方法

make px4_sitl gazebo_iris

• 设置初始位置再启动

export PX4_HOME_LAT=28.452386
export PX4_HOME_LON=-13.867138
export PX4_HOME_ALT=28.5

make px4_sitl gazebo

参考：

• https://docs.px4.io/master/en/simulation/gazebo_vehicles.html#quadrotor