PX4与仿真入门教程-配置ros

PX4与仿真入门教程-配置ros

说明：

• 介绍如何利用ros来启动仿真
• 增加配置文件vim ~/.bashrc

source ~/tools/PX4-Autopilot/Tools/setup_gazebo.bash ~/tools/PX4-Autopilot ~/tools/PX4-Autopilot/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/tools/PX4-Autopilot 
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/tools/PX4-Autopilot/Tools/sitl_gazebo

• 或者保存为一个脚本，load_px4_gazebo.sh, 运行source load_px4_gazebo.sh来单独加载
• 这种单独脚本方式，便于有多个仿真配置，各自独立，不冲突
• 启动gazebo

source load_px4_gazebo.sh
roslaunch px4 posix_sitl.launch

• 连接仿真

source load_px4_gazebo.sh
roslaunch mavros px4.launch fcu_url:="udp://:14540@127.0.0.1:14557"

• 尝试读取飞空的IMU数据，打开终端，输入

source load_px4_gazebo.sh
rostopic echo /mavros/imu/data
rostopic list