Fork me on GitHub

PX4-Gazebo-Ros中的launch文件编写

字数统计: 3.5k字   |   阅读时长≈ 19分

参考链接：

outdoor1.launch解析

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
<?xml version="1.0"?>
<launch>
    <!-- MAVROS posix SITL environment launch script -->
    <!-- launches MAVROS, PX4 SITL, Gazebo environment, and spawns vehicle -->
    <!-- vehicle pose -->
    <arg name="x" default="0"/>
    <arg name="y" default="0"/>
    <arg name="z" default="0"/>
    <arg name="R" default="0"/>
    <arg name="P" default="0"/>
    <arg name="Y" default="0"/>
    <!--以上都是无人机的位置起始位置信息-->

    <!-- vehicle model and world -->
    <arg name="est" default="ekf2"/>
    <arg name="vehicle" default="iris"/>
    
    <!--mavlink_sitl_gazebo的地址是/home/tony/PX4_Firmware/Tools/sitl_gazebo-->
    <!--也就是px4中存放world和models include等的地方-->
    <!--这个world有人，车，加油站，固定飞机等-->
    <!--然后在world里面没有发现本模型中的iris_0和摄像头iris_stereo_camera的模型-->
    <!--这些都是通过model直接添加的model的路径在/home/.gazebo/models-->
    <!--然后奇怪的是/models下是有iris_stereo_camera的-->
    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/outdoor1.world"/>
    
    <!--iri摄像头模型,这个sdf类似于urdf-->
    <!--而这里多此一举的在/home/tony/PX4_Firmware/Tools/sitl_gazebo下找到的这个与上面的model /home/.gazebo/models 内容是一样的 不知道这样使用的原因是什么-->
    <!--因为当时很啥叉的按照教程来在这两个地方都进行了复制，这个模型是XTDrone做的-->
    <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/iris_stereo_camera/iris_stereo_camera.sdf"/>

    <!-- gazebo configs -->
    <!--是否显示gazebo-->
    <arg name="gui" default="true"/>
    <arg name="debug" default="false"/>
    <arg name="verbose" default="false"/>
    <arg name="paused" default="false"/>
    <arg name="respawn_gazebo" default="false"/>
    
    <!-- MAVROS configs -->
    <!--这个是怎么设置的?-->
    <arg name="fcu_url" default="udp://:14540@localhost:14557"/>
    <arg name="respawn_mavros" default="false"/>
    <!-- PX4 configs -->
    <arg name="interactive" default="true"/>
    
    
    <!--前面这些都是参数的设定 并没有启动-->
    <!--下面才是启动gazebo仿真环境-->
    
    <!-- PX4 SITL and Gazebo -->
    <!--这里是包含另外一个launch-->
    <!--且arg name 是向这个launch传递的参数-->
    <!--这里还有，经过查阅posix_sitl.launch 在一开始就设置了x y z R P Y等等这些的default然后这里使用value后会覆盖掉其原来的设置的default-->
    <!--这个可以看作是传参里面的初始化一样-->
    <!--也就是说下面这些arg如果不写 那么就会执行posix_sitl.launch里面默认的launch 里面的world就是最开始初始化的world是一个empty因为posix_sitl这个launch里面的world初始化就是empty.world-->
    <!--以后我们直接改这个launch里面的就可以了，就不用改posix_sitl.launch-->
    <!--这里突然想到在默认状态下我们可以直接： roslaunch px4 posix_sitl.launch 这个就是px4官方例程里面的示例-->
    <!--然后这个vehicle 里面的iris这些模型 也是在/px4/tools/sitl_gazebo/models/下面-->
    <!--然后在posix_sitl.launch下发现对于飞机不能只一个arg就完了 还需要有sdf所以那里面也有一个sdf-->
    <include file="$(find px4)/launch/posix_sitl.launch">
        <arg name="x" value="$(arg x)"/>
        <arg name="y" value="$(arg y)"/>
        <arg name="z" value="$(arg z)"/>
        <arg name="R" value="$(arg R)"/>
        <arg name="P" value="$(arg P)"/>
        <arg name="Y" value="$(arg Y)"/>
        <arg name="est" value="$(arg est)"/>
        <arg name="world" value="$(arg world)"/>
        <arg name="vehicle" value="$(arg vehicle)"/>
        <!--posit_sitl里面写的默认sdf是vehicle.sdf这个是不带摄像头的 上面初始化的那个是有摄像头的iris-->
        <arg name="sdf" value="$(arg sdf)"/>
        
        <!--启动gazebo-->
        <arg name="gui" value="$(arg gui)"/>
        <arg name="debug" value="$(arg debug)"/>
        <arg name="verbose" value="$(arg verbose)"/>
        <arg name="paused" value="$(arg paused)"/>
        <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>   
        <arg name="interactive" value="$(arg interactive)"/>      
    </include>
    
    <!-- MAVROS -->
    <!--这是一个命名空间 类似于C++里面的using namespace 每个命名空间下可以有自己一套命名 不同的命名空间下的命名可以一样-->
    <group ns = "iris_0">
        <include file="$(find mavros)/launch/px4.launch">
            <!-- GCS link is provided by SITL -->
            <arg name="gcs_url" value=""/>
            <arg name="fcu_url" value="$(arg fcu_url)"/>
            <arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
        </include>
    </group>
</launch>

大概意思：
官方的是: roslaunch px4 posix_sitl.launch 这个里面包含了： include gazebo_ros/empty.launch 和 node pkg = gazebo_ros 而empty.launch里面包含了 node, pkg: gazebo_ros, gazebo_gui 这些 这样就可以启动px4 和gazebo

然后光有这两个还不行，还需要启动mavros, 这是mavlink的高级封装，通过这个，可以在ros上面以及支持mavlink通信协议的飞控板也就是px4上面进行通信.

所以roslaunch px4 posix_sitl.launch里面还包含了include mavros/px4.launch
而mavros/px4.launch 里面include mavros/node.launch node.launch里面，有node:mavros_node pkg:mavros 这样就把mavros也给启动了

现在的问题是通过对比，发现 outdoor1.launch与 mavros_posix_sitl.launch 这两个文件的内容几乎一模一样，除了这里：

1
2
3
4
5
6
7
8
<group ns = "iris_0">
    <include file="$(find mavros)/launch/px4.launch">
        <!-- GCS link is provided by SITL -->
        <arg name="gcs_url" value=""/>
        <arg name="fcu_url" value="$(arg fcu_url)"/>
        <arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
    </include>
</group>

这里outdoor1 比原来的多了一个
通过：rospack list:
发现：

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
    /clock
/diagnostics
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/gazebo_gui/parameter_descriptions
/gazebo_gui/parameter_updates
/iris_0/imu_gazebo
/iris_0/mavlink/from
/iris_0/mavlink/to
/iris_0/mavros/actuator_control
/iris_0/mavros/adsb/send
/iris_0/mavros/adsb/vehicle
/iris_0/mavros/altitude
/iris_0/mavros/battery
/iris_0/mavros/cam_imu_sync/cam_imu_stamp
/iris_0/mavros/companion_process/status
/iris_0/mavros/debug_value/debug
/iris_0/mavros/debug_value/debug_vector
/iris_0/mavros/debug_value/named_value_float
/iris_0/mavros/debug_value/named_value_int
/iris_0/mavros/debug_value/send
/iris_0/mavros/estimator_status
/iris_0/mavros/extended_state
/iris_0/mavros/fake_gps/mocap/tf
/iris_0/mavros/global_position/compass_hdg
/iris_0/mavros/global_position/global
/iris_0/mavros/global_position/gp_lp_offset
/iris_0/mavros/global_position/gp_origin
/iris_0/mavros/global_position/home
/iris_0/mavros/global_position/local
/iris_0/mavros/global_position/raw/fix
/iris_0/mavros/global_position/raw/gps_vel
/iris_0/mavros/global_position/raw/satellites
/iris_0/mavros/global_position/rel_alt
/iris_0/mavros/global_position/set_gp_origin
/iris_0/mavros/gps_rtk/send_rtcm
/iris_0/mavros/hil/actuator_controls
/iris_0/mavros/hil/controls
/iris_0/mavros/hil/gps
/iris_0/mavros/hil/imu_ned
/iris_0/mavros/hil/optical_flow
/iris_0/mavros/hil/rc_inputs
/iris_0/mavros/hil/state
/iris_0/mavros/home_position/home
/iris_0/mavros/home_position/set
/iris_0/mavros/imu/data
/iris_0/mavros/imu/data_raw
/iris_0/mavros/imu/diff_pressure
/iris_0/mavros/imu/mag
/iris_0/mavros/imu/static_pressure
/iris_0/mavros/imu/temperature_baro
/iris_0/mavros/imu/temperature_imu
/iris_0/mavros/landing_target/lt_marker
/iris_0/mavros/landing_target/pose
/iris_0/mavros/landing_target/pose_in
/iris_0/mavros/local_position/accel
/iris_0/mavros/local_position/odom
/iris_0/mavros/local_position/pose
/iris_0/mavros/local_position/pose_cov
/iris_0/mavros/local_position/velocity_body
/iris_0/mavros/local_position/velocity_body_cov
/iris_0/mavros/local_position/velocity_local
/iris_0/mavros/log_transfer/raw/log_data
/iris_0/mavros/log_transfer/raw/log_entry
/iris_0/mavros/manual_control/control
/iris_0/mavros/manual_control/send
/iris_0/mavros/mission/reached
/iris_0/mavros/mission/waypoints
/iris_0/mavros/mocap/pose
/iris_0/mavros/mount_control/command
/iris_0/mavros/mount_control/orientation
/iris_0/mavros/obstacle/send
/iris_0/mavros/odometry/in
/iris_0/mavros/odometry/out
/iris_0/mavros/onboard_computer/status
/iris_0/mavros/param/param_value
/iris_0/mavros/px4flow/ground_distance
/iris_0/mavros/px4flow/raw/optical_flow_rad
/iris_0/mavros/px4flow/raw/send
/iris_0/mavros/px4flow/temperature
/iris_0/mavros/radio_status
/iris_0/mavros/rc/in
/iris_0/mavros/rc/out
/iris_0/mavros/rc/override
/iris_0/mavros/setpoint_accel/accel
/iris_0/mavros/setpoint_attitude/cmd_vel
/iris_0/mavros/setpoint_attitude/thrust
/iris_0/mavros/setpoint_position/global
/iris_0/mavros/setpoint_position/global_to_local
/iris_0/mavros/setpoint_position/local
/iris_0/mavros/setpoint_raw/attitude
/iris_0/mavros/setpoint_raw/global
/iris_0/mavros/setpoint_raw/local
/iris_0/mavros/setpoint_raw/target_attitude
/iris_0/mavros/setpoint_raw/target_global
/iris_0/mavros/setpoint_raw/target_local
/iris_0/mavros/setpoint_trajectory/desired
/iris_0/mavros/setpoint_trajectory/local
/iris_0/mavros/setpoint_velocity/cmd_vel
/iris_0/mavros/setpoint_velocity/cmd_vel_unstamped
/iris_0/mavros/state
/iris_0/mavros/statustext/recv
/iris_0/mavros/statustext/send
/iris_0/mavros/target_actuator_control
/iris_0/mavros/time_reference
/iris_0/mavros/timesync_status
/iris_0/mavros/trajectory/desired
/iris_0/mavros/trajectory/generated
/iris_0/mavros/trajectory/path
/iris_0/mavros/vfr_hud
/iris_0/mavros/vision_pose/pose
/iris_0/mavros/vision_pose/pose_cov
/iris_0/mavros/vision_speed/speed_twist_cov
/iris_0/mavros/wind_estimation
/iris_0/stereo_camera/left/camera_info
/iris_0/stereo_camera/left/image_raw
/iris_0/stereo_camera/left/parameter_descriptions
/iris_0/stereo_camera/left/parameter_updates
/iris_0/stereo_camera/right/camera_info
/iris_0/stereo_camera/right/image_raw
/iris_0/stereo_camera/right/parameter_descriptions
/iris_0/stereo_camera/right/parameter_updates
/rosout
/rosout_agg
/tf
/tf_static
去掉这一个我们试一试
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
 /clock
/diagnostics
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/gazebo_gui/parameter_descriptions
/gazebo_gui/parameter_updates
/iris_0/imu_gazebo
/iris_0/stereo_camera/left/camera_info
/iris_0/stereo_camera/left/image_raw
/iris_0/stereo_camera/left/parameter_descriptions
/iris_0/stereo_camera/left/parameter_updates
/iris_0/stereo_camera/right/camera_info
/iris_0/stereo_camera/right/image_raw
/iris_0/stereo_camera/right/parameter_descriptions
/iris_0/stereo_camera/right/parameter_updates
/mavlink/from
/mavlink/to
/mavros/actuator_control
/mavros/adsb/send
/mavros/adsb/vehicle
/mavros/altitude
/mavros/battery
/mavros/cam_imu_sync/cam_imu_stamp
/mavros/companion_process/status
/mavros/debug_value/debug
/mavros/debug_value/debug_vector
/mavros/debug_value/named_value_float
/mavros/debug_value/named_value_int
/mavros/debug_value/send
/mavros/estimator_status
/mavros/extended_state
/mavros/fake_gps/mocap/tf
/mavros/global_position/compass_hdg
/mavros/global_position/global
/mavros/global_position/gp_lp_offset
/mavros/global_position/gp_origin
/mavros/global_position/home
/mavros/global_position/local
/mavros/global_position/raw/fix
/mavros/global_position/raw/gps_vel
/mavros/global_position/raw/satellites
/mavros/global_position/rel_alt
/mavros/global_position/set_gp_origin
/mavros/gps_rtk/send_rtcm
/mavros/hil/actuator_controls
/mavros/hil/controls
/mavros/hil/gps
/mavros/hil/imu_ned
/mavros/hil/optical_flow
/mavros/hil/rc_inputs
/mavros/hil/state
/mavros/home_position/home
/mavros/home_position/set
/mavros/imu/data
/mavros/imu/data_raw
/mavros/imu/diff_pressure
/mavros/imu/mag
/mavros/imu/static_pressure
/mavros/imu/temperature_baro
/mavros/imu/temperature_imu
/mavros/landing_target/lt_marker
/mavros/landing_target/pose
/mavros/landing_target/pose_in
/mavros/local_position/accel
/mavros/local_position/odom
/mavros/local_position/pose
/mavros/local_position/pose_cov
/mavros/local_position/velocity_body
/mavros/local_position/velocity_body_cov
/mavros/local_position/velocity_local
/mavros/log_transfer/raw/log_data
/mavros/log_transfer/raw/log_entry
/mavros/manual_control/control
/mavros/manual_control/send
/mavros/mission/reached
/mavros/mission/waypoints
/mavros/mocap/pose
/mavros/mount_control/command
/mavros/mount_control/orientation
/mavros/obstacle/send
/mavros/odometry/in
/mavros/odometry/out
/mavros/onboard_computer/status
/mavros/param/param_value
/mavros/px4flow/ground_distance
/mavros/px4flow/raw/optical_flow_rad
/mavros/px4flow/raw/send
/mavros/px4flow/temperature
/mavros/radio_status
/mavros/rc/in
/mavros/rc/out
/mavros/rc/override
/mavros/setpoint_accel/accel
/mavros/setpoint_attitude/cmd_vel
/mavros/setpoint_attitude/thrust
/mavros/setpoint_position/global
/mavros/setpoint_position/global_to_local
/mavros/setpoint_position/local
/mavros/setpoint_raw/attitude
/mavros/setpoint_raw/global
/mavros/setpoint_raw/local
/mavros/setpoint_raw/target_attitude
/mavros/setpoint_raw/target_global
/mavros/setpoint_raw/target_local
/mavros/setpoint_trajectory/desired
/mavros/setpoint_trajectory/local
/mavros/setpoint_velocity/cmd_vel
/mavros/setpoint_velocity/cmd_vel_unstamped
/mavros/state
/mavros/statustext/recv
/mavros/statustext/send
/mavros/target_actuator_control
/mavros/time_reference
/mavros/timesync_status
/mavros/trajectory/desired
/mavros/trajectory/generated
/mavros/trajectory/path
/mavros/vfr_hud
/mavros/vision_pose/pose
/mavros/vision_pose/pose_cov
/mavros/vision_speed/speed_twist_cov
/mavros/wind_estimation
/rosout
/rosout_agg
/tf
/tf_static

发现跟mavros有关的，前面都会多一个/iris_0原来这个group的效果在这里
还发现去掉这个group后，这几个没有去掉，依然前面有:

1
2
3
4
5
6
7
8
9
/iris_0/imu_gazebo
/iris_0/stereo_camera/left/camera_info
/iris_0/stereo_camera/left/image_raw
/iris_0/stereo_camera/left/parameter_descriptions
/iris_0/stereo_camera/left/parameter_updates
/iris_0/stereo_camera/right/camera_info
/iris_0/stereo_camera/right/image_raw
/iris_0/stereo_camera/right/parameter_descriptions
/iris_0/stereo_camera/right/parameter_updates

目前不知道这个是什么原因造成的

关于mavros的，可以参考这篇文章：Mavros学习

  1. https://blog.csdn.net/brawly/article/details/106435104#212_linkgazebo_85
  2. https://www.jianshu.com/p/63a959bfbb96
  3. https://blog.csdn.net/qq_33444963/article/details/77893881#t6
赏

谢谢你请我吃糖果

支付宝
微信

扫一扫，分享到微信

tag:

    缺失模块。
    1、请确保node版本大于6.2
    2、在博客根目录（注意不是yilia-plus根目录）执行以下命令：
    npm i hexo-generator-json-content --save

    3、在根目录_config.yml里添加配置： 

      jsonContent:
    meta: false
    pages: false
    posts:
      title: true
      date: true
      path: true
      text: false
      raw: false
      content: false
      slug: false
      updated: false
      comments: false
      link: false
      permalink: false
      excerpt: false
      categories: false
      tags: true

学生，现居成都
学习无人机px4目标识别与跟踪