[PX4]mavros安裝+offboard控制過程記錄

在上篇文章中但指，我們在ubuntu上搭建了PX4的開發(fā)環(huán)境。本篇文章將繼續(xù)開發(fā)環(huán)境的搭建抗楔，完成ROS+gazebo+Mavros的仿真環(huán)境搭建棋凳，其中mavros可以用來執(zhí)行offboard控制。

!!!注意：

我的安裝過程可能稍有不同连躏，由于在這之前我就已經(jīng)安裝了ROS剩岳，而Gazebo則是在上一篇文章中已經(jīng)安裝，因此我在安裝的時候沒有直接使用安裝腳本入热，而是將腳本逐行執(zhí)行以避免問題拍棕。

如果你之前沒有在home下創(chuàng)建過ros工作空間，那你應該直接運行腳本,而不用按照本篇文章的記錄勺良，以減少麻煩绰播。

本篇文章分為以下幾個部分：

  1. mavros的安裝

  2. offboard控制演示

  3. 視頻記錄

1.mavros的安裝

這部分的安裝過程是按照官方連接(ROS/Gazebo)來進行的，下面的命令實際上是腳本中的命令逐行運行尚困。

1. 檢查系統(tǒng)版本

<pre spellcheck="false" class="md-fences md-end-block ty-contain-cm modeLoaded" lang="bash" cid="n138" mdtype="fences" style="box-sizing: border-box; overflow: visible; font-family: var(--monospace); --select-text-font-color: #fff; font-size: 0.9rem; line-height: 1.71429em; display: block; break-inside: avoid; text-align: left; white-space: normal; background-image: inherit; background-position: inherit; background-size: inherit; background-repeat: inherit; background-attachment: inherit; background-origin: inherit; background-clip: inherit; background-color: rgb(218, 218, 218); position: relative !important; margin-bottom: 3em; margin-left: 2em; padding-left: 1ch; padding-right: 1ch; width: inherit; color: rgb(31, 9, 9); font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; text-decoration-style: initial; text-decoration-color: initial;">lsb_release -sc
bionic</pre>

查看自己的輸出是否為bionic蠢箩，確認自己的版本是否是18.04，如果不是事甜，請尋找針對特定版本的教程谬泌。

2. 安裝仿真依賴項

<pre spellcheck="false" class="md-fences md-end-block ty-contain-cm modeLoaded" lang="bash" cid="n141" mdtype="fences" style="box-sizing: border-box; overflow: visible; font-family: var(--monospace); --select-text-font-color: #fff; font-size: 0.9rem; line-height: 1.71429em; display: block; break-inside: avoid; text-align: left; white-space: normal; background-image: inherit; background-position: inherit; background-size: inherit; background-repeat: inherit; background-attachment: inherit; background-origin: inherit; background-clip: inherit; background-color: rgb(218, 218, 218); position: relative !important; margin-bottom: 3em; margin-left: 2em; padding-left: 1ch; padding-right: 1ch; width: inherit; color: rgb(31, 9, 9); font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; text-decoration-style: initial; text-decoration-color: initial;">wget https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_common_deps.sh
?
./ubuntu_sim_common_deps.sh</pre>

如果下載下來的腳本不是可執(zhí)行文件，運行

<pre spellcheck="false" class="md-fences md-end-block ty-contain-cm modeLoaded" lang="bash" cid="n143" mdtype="fences" style="box-sizing: border-box; overflow: visible; font-family: var(--monospace); --select-text-font-color: #fff; font-size: 0.9rem; line-height: 1.71429em; display: block; break-inside: avoid; text-align: left; white-space: normal; background-image: inherit; background-position: inherit; background-size: inherit; background-repeat: inherit; background-attachment: inherit; background-origin: inherit; background-clip: inherit; background-color: rgb(218, 218, 218); position: relative !important; margin-bottom: 3em; margin-left: 2em; padding-left: 1ch; padding-right: 1ch; width: inherit; color: rgb(31, 9, 9); font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; text-decoration-style: initial; text-decoration-color: initial;">chmod +x ubuntu_sim_common_deps.sh</pre>

安裝過程中查看是否輸出了：

./ubuntu_sim_common_deps.sh: 行 47: * :語法錯誤：需要操作數(shù)

那么你需要自己運行下面的命令來安裝fastrtps逻谦，雖然這個暫時也沒看到有什么用掌实。

進入home目錄，運行

<pre spellcheck="false" class="md-fences md-end-block ty-contain-cm modeLoaded" lang="bash" cid="n150" mdtype="fences" style="box-sizing: border-box; overflow: visible; font-family: var(--monospace); --select-text-font-color: #fff; font-size: 0.9rem; line-height: 1.71429em; display: block; break-inside: avoid; text-align: left; white-space: normal; background-image: inherit; background-position: inherit; background-size: inherit; background-repeat: inherit; background-attachment: inherit; background-origin: inherit; background-clip: inherit; background-color: rgb(218, 218, 218); position: relative !important; margin-bottom: 3em; margin-left: 2em; padding-left: 1ch; padding-right: 1ch; width: inherit; color: rgb(31, 9, 9); font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; text-decoration-style: initial; text-decoration-color: initial;">(cd eProsima_FastCDR-1.0.8-Linux && ./configure --libdir=/usr/lib && make -j4 && sudo make install)
(cd eProsima_FastRTPS-1.7.1-Linux && ./configure --libdir=/usr/lib && make -j4 && sudo make install)</pre>

來進行安裝跨跨。

3. 安裝ROS+Gazebo

<pre spellcheck="false" class="md-fences md-end-block ty-contain-cm modeLoaded" lang="bash" cid="n153" mdtype="fences" style="box-sizing: border-box; overflow: visible; font-family: var(--monospace); --select-text-font-color: #fff; font-size: 0.9rem; line-height: 1.71429em; display: block; break-inside: avoid; text-align: left; white-space: normal; background-image: inherit; background-position: inherit; background-size: inherit; background-repeat: inherit; background-attachment: inherit; background-origin: inherit; background-clip: inherit; background-color: rgb(218, 218, 218); position: relative !important; margin-bottom: 3em; margin-left: 2em; padding-left: 1ch; padding-right: 1ch; width: inherit; color: rgb(31, 9, 9); font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; text-decoration-style: initial; text-decoration-color: initial;">sudo apt-get install protobuf-compiler libeigen3-dev libopencv-dev -y
?

安裝的ROS+Gazebo

ROS Gazebo: http://wiki.ros.org/melodic/Installation/Ubuntu

Setup keys

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

For keyserver connection problems substitute hkp://pgp.mit.edu:80 or hkp://keyserver.ubuntu.com:80 above.

sudo apt-get update

Get ROS/Gazebo

sudo apt install ros-melodic-desktop-full -y

Initialize rosdep

sudo rosdep init
rosdep update

Setup environment variables

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc;
source /opt/ros/melodic/setup.bash
?

Install rosinstall and other dependencies

sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential -y</pre>

4. 編譯MAVROS

<pre spellcheck="false" class="md-fences md-end-block ty-contain-cm modeLoaded" lang="bash" cid="n156" mdtype="fences" style="box-sizing: border-box; overflow: visible; font-family: var(--monospace); --select-text-font-color: #fff; font-size: 0.9rem; line-height: 1.71429em; display: block; break-inside: avoid; text-align: left; white-space: normal; background-image: inherit; background-position: inherit; background-size: inherit; background-repeat: inherit; background-attachment: inherit; background-origin: inherit; background-clip: inherit; background-color: rgb(218, 218, 218); position: relative !important; margin-bottom: 3em; margin-left: 2em; padding-left: 1ch; padding-right: 1ch; width: inherit; color: rgb(31, 9, 9); font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; text-decoration-style: initial; text-decoration-color: initial;"># MAVROS: https://dev.px4.io/en/ros/mavros_installation.html

Install dependencies

sudo apt-get install python-catkin-tools python-rosinstall-generator -y
?

Create catkin workspace

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
wstool init src
?
?

Install MAVLink

we use the Kinetic reference for all ROS distros as it's not distro-specific and up to date

rosinstall_generator --rosdistro kinetic mavlink | tee /tmp/mavros.rosinstall
?

Build MAVROS

Get source (upstream - released)

rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall
?

Setup workspace & install deps

wstool merge -t src /tmp/mavros.rosinstall
wstool update -t src
?
rosdep install --from-paths src --ignore-src -y
?
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
?
./install_geographiclib_datasets.sh
?
catkin build
?

source 空間

echo "source ~/catkin_ws/devel/setup.bash >> ~/.bashrc
source ~/catkin_ws/devel/setup.bash</pre>

2. offboard控制

打開官方MAVROS Offboard control example鏈接潮峦，然后在catkin_ws目錄中囱皿，運行命令

<pre mdtype="fences" cid="n165" lang="bash" class="md-fences md-end-block ty-contain-cm modeLoaded" spellcheck="false" style="box-sizing: border-box; overflow: visible; font-family: var(--monospace); --select-text-font-color: #fff; font-size: 0.9rem; line-height: 1.71429em; display: block; break-inside: avoid; text-align: left; white-space: normal; background-image: inherit; background-position: inherit; background-size: inherit; background-repeat: inherit; background-attachment: inherit; background-origin: inherit; background-clip: inherit; background-color: rgb(218, 218, 218); position: relative !important; margin-bottom: 3em; margin-left: 2em; padding-left: 1ch; padding-right: 1ch; width: inherit; color: rgb(31, 9, 9); font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; text-decoration-style: initial; text-decoration-color: initial;">catkin_create_pkg offboard_pkg roscpp std_msgs geometry_msgs mavros_msgs</pre>

然后定位到目錄~/catkin_ws/src/offboard_pkg/src/，新建一個文件offboard_node.cpp忱嘹。

將代碼復制進去(官方示例):

<pre mdtype="fences" cid="n171" lang="c++" class="md-fences md-end-block ty-contain-cm modeLoaded" spellcheck="false" style="box-sizing: border-box; overflow: visible; font-family: var(--monospace); --select-text-font-color: #fff; font-size: 0.9rem; line-height: 1.71429em; display: block; break-inside: avoid; text-align: left; white-space: normal; background-image: inherit; background-position: inherit; background-size: inherit; background-repeat: inherit; background-attachment: inherit; background-origin: inherit; background-clip: inherit; background-color: rgb(218, 218, 218); position: relative !important; margin-bottom: 3em; margin-left: 2em; padding-left: 1ch; padding-right: 1ch; width: inherit; color: rgb(31, 9, 9); font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; text-decoration-style: initial; text-decoration-color: initial;">/**

  • @file offb_node.cpp
  • @brief Offboard control example node, written with MAVROS version 0.19.x, PX4 Pro Flight
  • Stack and tested in Gazebo SITL
    */
    ?

include <ros/ros.h>

include <geometry_msgs/PoseStamped.h>

include <mavros_msgs/CommandBool.h>

include <mavros_msgs/SetMode.h>

include <mavros_msgs/State.h>

?
mavros_msgs::State current_state;
void state_cb(const mavros_msgs::State::ConstPtr& msg){
current_state = *msg;
}
?
int main(int argc, char **argv)
{
ros::init(argc, argv, "offb_node");
ros::NodeHandle nh;
?
ros::Subscriber state_sub = nh.subscribe<mavros_msgs::State>
("mavros/state", 10, state_cb);
ros::Publisher local_pos_pub = nh.advertise<geometry_msgs::PoseStamped>
("mavros/setpoint_position/local", 10);
ros::ServiceClient arming_client = nh.serviceClient<mavros_msgs::CommandBool>
("mavros/cmd/arming");
ros::ServiceClient set_mode_client = nh.serviceClient<mavros_msgs::SetMode>
("mavros/set_mode");
?
//the setpoint publishing rate MUST be faster than 2Hz
ros::Rate rate(20.0);
?
// wait for FCU connection
while(ros::ok() && !current_state.connected){
ros::spinOnce();
rate.sleep();
}
?
geometry_msgs::PoseStamped pose;
pose.pose.position.x = 0;
pose.pose.position.y = 0;
pose.pose.position.z = 2;
?
//send a few setpoints before starting
for(int i = 100; ros::ok() && i > 0; --i){
local_pos_pub.publish(pose);
ros::spinOnce();
rate.sleep();
}
?
mavros_msgs::SetMode offb_set_mode;
offb_set_mode.request.custom_mode = "OFFBOARD";
?
mavros_msgs::CommandBool arm_cmd;
arm_cmd.request.value = true;
?
ros::Time last_request = ros::Time::now();
?
while(ros::ok()){
if( current_state.mode != "OFFBOARD" &&
(ros::Time::now() - last_request > ros::Duration(5.0))){
if( set_mode_client.call(offb_set_mode) &&
offb_set_mode.response.mode_sent){
ROS_INFO("Offboard enabled");
}
last_request = ros::Time::now();
} else {
if( !current_state.armed &&
(ros::Time::now() - last_request > ros::Duration(5.0))){
if( arming_client.call(arm_cmd) &&
arm_cmd.response.success){
ROS_INFO("Vehicle armed");
}
last_request = ros::Time::now();
}
}
?
local_pos_pub.publish(pose);
?
ros::spinOnce();
rate.sleep();
}
?
return 0;
}</pre>

然后打開目錄~/catkin_ws/src/offboard_pkg/下的CMakeLists.txt添加下面的兩行：

<pre mdtype="fences" cid="n177" lang="cmake" class="md-fences md-end-block ty-contain-cm modeLoaded" spellcheck="false" style="box-sizing: border-box; overflow: visible; font-family: var(--monospace); --select-text-font-color: #fff; font-size: 0.9rem; line-height: 1.71429em; display: block; break-inside: avoid; text-align: left; white-space: normal; background-image: inherit; background-position: inherit; background-size: inherit; background-repeat: inherit; background-attachment: inherit; background-origin: inherit; background-clip: inherit; background-color: rgb(218, 218, 218); position: relative !important; margin-bottom: 3em; margin-left: 2em; padding-left: 1ch; padding-right: 1ch; width: inherit; color: rgb(31, 9, 9); font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; text-decoration-style: initial; text-decoration-color: initial;">add_executable(offboard_node src/offboard_node.cpp)
target_link_libraries(offboard_node ${catkin_LIBRARIES})</pre>

然后到目錄~/catkin_ws下嘱腥，運行命令

<pre mdtype="fences" cid="n181" lang="bash" class="md-fences md-end-block ty-contain-cm modeLoaded" spellcheck="false" style="box-sizing: border-box; overflow: visible; font-family: var(--monospace); --select-text-font-color: #fff; font-size: 0.9rem; line-height: 1.71429em; display: block; break-inside: avoid; text-align: left; white-space: normal; background-image: inherit; background-position: inherit; background-size: inherit; background-repeat: inherit; background-attachment: inherit; background-origin: inherit; background-clip: inherit; background-color: rgb(218, 218, 218); position: relative !important; margin-bottom: 3em; margin-left: 2em; padding-left: 1ch; padding-right: 1ch; width: inherit; color: rgb(31, 9, 9); font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; text-decoration-style: initial; text-decoration-color: initial;">catkin build</pre>

等待編譯完成后，如果你要在gazebo中仿真拘悦，運行命令

<pre mdtype="fences" cid="n187" lang="bash" class="md-fences md-end-block ty-contain-cm modeLoaded" spellcheck="false" style="box-sizing: border-box; overflow: visible; font-family: var(--monospace); --select-text-font-color: #fff; font-size: 0.9rem; line-height: 1.71429em; display: block; break-inside: avoid; text-align: left; white-space: normal; background-image: inherit; background-position: inherit; background-size: inherit; background-repeat: inherit; background-attachment: inherit; background-origin: inherit; background-clip: inherit; background-color: rgb(218, 218, 218); position: relative !important; margin-bottom: 3em; margin-left: 2em; padding-left: 1ch; padding-right: 1ch; width: inherit; color: rgb(31, 9, 9); font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; text-decoration-style: initial; text-decoration-color: initial;">make px4_sitl gazebo_iris</pre>

打開QGroundControl齿兔。

然后在終端下運行命令：

<pre mdtype="fences" cid="n191" lang="bash" class="md-fences md-end-block ty-contain-cm modeLoaded" spellcheck="false" style="box-sizing: border-box; overflow: visible; font-family: var(--monospace); --select-text-font-color: #fff; font-size: 0.9rem; line-height: 1.71429em; display: block; break-inside: avoid; text-align: left; white-space: normal; background-image: inherit; background-position: inherit; background-size: inherit; background-repeat: inherit; background-attachment: inherit; background-origin: inherit; background-clip: inherit; background-color: rgb(218, 218, 218); position: relative !important; margin-bottom: 3em; margin-left: 2em; padding-left: 1ch; padding-right: 1ch; width: inherit; color: rgb(31, 9, 9); font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; text-decoration-style: initial; text-decoration-color: initial;">roslaunch mavros px4.launch fcu_url:="udp://:14540@127.0.0.1:14557"</pre>

啟動PX4與Mavros之間的連接，然后運行命令

<pre mdtype="fences" cid="n195" lang="bash" class="md-fences md-end-block ty-contain-cm modeLoaded" spellcheck="false" style="box-sizing: border-box; overflow: visible; font-family: var(--monospace); --select-text-font-color: #fff; font-size: 0.9rem; line-height: 1.71429em; display: block; break-inside: avoid; text-align: left; white-space: normal; background-image: inherit; background-position: inherit; background-size: inherit; background-repeat: inherit; background-attachment: inherit; background-origin: inherit; background-clip: inherit; background-color: rgb(218, 218, 218); position: relative !important; margin-bottom: 3em; margin-left: 2em; padding-left: 1ch; padding-right: 1ch; width: inherit; color: rgb(31, 9, 9); font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; text-decoration-style: initial; text-decoration-color: initial;">rosrun offboard_pkg offboard_node</pre>

然后進入gazebo中進行觀察础米。

3. 視頻記錄

同時分苇，我還將我的安裝過程錄制成了視頻，請點擊這里查看屁桑。**如果想看offboard控制的效果医寿，可以直接看視頻13:00處。

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