PX4从放弃到精通（二十三）：仿真
文章目录前言一、java仿真单机仿真设置仿真时间速度多机仿真二、硬件在环仿真三、mavros offboard仿真例程1.创建工作空间2.创建功能包四、MAVROS多机仿真前言Ubuntu18.04一、java仿真单机仿真在源码路径下执行：make px4_sitl_default jmavsim设置仿真时间速度export PX4_SIM_SPEED_FACTOR 时间倍速例如：export P
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👉👉👉**无人机硬件，提供全程指导**👈👈👈
文章目录
前言
Ubuntu20.04
PX4 1.13.3
一、 单机仿真
java仿真
在源码路径下执行：
make px4_sitl_default jmavsim
gazebo仿真
在源码路径下执行：
make px4_sitl_default gazebo
默认的gazebo模型是iris四旋翼，如果想使用其他的模型可以添加相应的后缀
如无人车：
make px4_sitl_default gazebo_rover
所有可用的gazebo模型在下面的目录下：
设置仿真时间速度
export PX4_SIM_SPEED_FACTOR 时间倍速
例如：
export PX4_SIM_SPEED_FACTOR=2
make px4_sitl_default jmavsim
二、多机仿真
参考https://docs.px4.io/master/zh/simulation/multi_vehicle_simulation_gazebo.html
1.编译PX4
make px4_sitl_default
gazebo多机仿真
以五架为例，-m后面表示用哪个模型，-n后面表示多少架。这种仿真无法用nsh终端
Tools/gazebo_sitl_multiple_run.sh -m iris -n 5
1.14及更新版固件多机仿真指令为：
./Tools/simulation/gazebo-classic/sitl_multiple_run.sh -m iris -n 5
jmavsim多机仿真
设置无人机架数
./Tools/sitl_multiple_run.sh 无人机架数
例如三架无人机
./Tools/sitl_multiple_run.sh 3
在该终端下启动：
./Tools/jmavsim_run.sh -l
打开新终端，依次启动每架无人机
./Tools/jmavsim_run.sh -p 4560 -l
每个终端只能启动一架无人机，每架无人机的端口要不一致，例如分别启动：
./Tools/jmavsim_run.sh -p 4560 -l
./Tools/jmavsim_run.sh -p 4561 -l
./Tools/jmavsim_run.sh -p 4562 -l
打开地面站可以看到链接了多架无人机。
三、硬件在环仿真
以四旋翼为例
参考链接
https://dev.px4.io/master/zh/simulation/hitl.html
１
将飞控连接到地面站，机架类型选择HIL Quadcopter X
２
激活 HITL 模式 安全/硬件在环仿真 选择ＨＩＬ ENABLED
3
(可选) 配置操纵杆和故障保护。 Set the following parameters in order to use a joystick instead of an RC remote control transmitter:
COM_RC_IN_MODE 更改为 "Joystick/No RC Checks". 这允许操纵杆输入并禁用 RC 输入检查。
NAV_RCL_ACT to "Disabled". 这可确保在没有无线遥控的情况下运行 HITL 时 RC 失控保护不会介入。
4将地面站的自动的自动连接到下列设备下面的选项只勾选ＵＤＰ,否则当飞控连接到电脑后，打开地面站会自动连接到飞控，这个时候再打开仿真，会因为ｕｓｂ端口被占用而无法开启仿真。
只勾选ＵＤＰ后，飞控不会自动连接到地面只能。仿真先通过ＵＳB连接飞控，再通过ＵＤＰ连接地面站，就不会冲突。
５
先将飞控连接到电脑并等待其启动，在Ｆirmware目录打开终端
执行
./Tools/jmavsim_run.sh -q -d /dev/ttyACM0 -b 921600 -r 250
即可仿真
通过游戏手柄可以控制无人机
注意如果在仿真时遥控器打开并连接上了无人机，则游戏手柄就无法控制无人机，只能用遥控器控制无人机
三、mavros offboard仿真例程
1.创建工作空间
mkdir -p Offboard_ws/src
cd ~/Offboard_ws/src
catkin_init_workspace
cd ~/Offboard_ws/
catkin_make
echo "source ~/Offboard_ws/devel/setup.bash">>~/.bashrc
source ~/.bashrc
echo $ROS_PACKAGE_PATH
如果上面的步骤执行正确的话，最后一步会显示工作空间路径
Offboard_ws/src:以及ROS安装路径/opt/ros/melodic/share
2.创建功能包
cd ~/Offboard_ws/src
catkin_create_pkg offboard roscpp std_msgs geometry_msgs mavros_msgs
cd offboard/src
gedit offboard_node.cpp
复制以下代码进去
#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;
}
cd ..
gedit CMakeLists.txt
在最末尾添加如下内容后保存退出
add_executable(${PROJECT_NAME}_node src/offboard_node.cpp)
target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES})
然后编译
cd ~/Offboard_ws
catkin_make
然后先
roslaunch px4 mavros_posix_sitl.launch
再启动offboard节点
rosrun offboard offboard_node
正常的话无人机会起飞至2米
注意export 开头的环境变量必须放在最下面，source开头的如果放在最下的话，会导致无法使用roslaunch px4 mavros_posix_sitl.launch，以及直接启动launch文件是提示找不到路径
四、MAVROS多机仿真
添加多机仿真的脚本的环境变量
我这里的Firmware在home目录下，添加如下到.bashrc
source ~/Firmware/Tools/setup_gazebo.bash ~/Firmware/ ~/Firmware/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/Firmware
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/Firmware/Tools/sitl_gazebo
修改launch文件multi_uav_mavros_sitl.launch
格式如下
<?xml version="1.0"?>
<launch>
<!-- MAVROS posix SITL environment launch script -->
<!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
<!-- vehicle model and world -->
<arg name="est" default="ekf2"/>
<arg name="vehicle" default="iris"/>
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
<!-- gazebo configs -->
<arg name="gui" default="true"/>
<arg name="debug" default="false"/>
<arg name="verbose" default="false"/>
<arg name="paused" default="false"/>
<!-- Gazebo sim -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="gui" value="$(arg gui)"/>
<arg name="world_name" value="$(arg world)"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="verbose" value="$(arg verbose)"/>
<arg name="paused" value="$(arg paused)"/>
</include>
<!-- UAV0 -->
<group ns="uav0">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="0"/>
<arg name="fcu_url" default="udp://:14540@localhost:14580"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn.launch">
<arg name="x" value="0"/>
<arg name="y" value="0"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="mavlink_udp_port" value="14560"/>
<arg name="mavlink_tcp_port" value="4560"/>
<arg name="ID" value="$(arg ID)"/>
</include>
<!-- MAVROS -->
<include file="$(find mavros)/launch/px4.launch">
<arg name="fcu_url" value="$(arg fcu_url)"/>
<arg name="gcs_url" value=""/>
<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- UAV1 -->
<group ns="uav1">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="1"/>
<arg name="fcu_url" default="udp://:14541@localhost:14581"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn.launch">
<arg name="x" value="1"/>
<arg name="y" value="0"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="mavlink_udp_port" value="14561"/>
<arg name="mavlink_tcp_port" value="4561"/>
<arg name="ID" value="$(arg ID)"/>
</include>
<!-- MAVROS -->
<include file="$(find mavros)/launch/px4.launch">
<arg name="fcu_url" value="$(arg fcu_url)"/>
<arg name="gcs_url" value=""/>
<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- UAV2 -->
<group ns="uav2">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="2"/>
<arg name="fcu_url" default="udp://:14542@localhost:14582"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn.launch">
<arg name="x" value="0"/>
<arg name="y" value="1"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="mavlink_udp_port" value="14562"/>
<arg name="mavlink_tcp_port" value="4562"/>
<arg name="ID" value="$(arg ID)"/>
</include>
<!-- MAVROS -->
<include file="$(find mavros)/launch/px4.launch">
<arg name="fcu_url" value="$(arg fcu_url)"/>
<arg name="gcs_url" value=""/>
<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
编写多机控制节点，控制不同的无人机发布不同的话题就行了
/**
* @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");
ros::Publisher local_pos_pub1 = nh.advertise<geometry_msgs::PoseStamped>
("uav1/mavros/setpoint_position/local", 10);
ros::ServiceClient arming_client1 = nh.serviceClient<mavros_msgs::CommandBool>
("uav1/mavros/cmd/arming");
ros::ServiceClient set_mode_client1 = nh.serviceClient<mavros_msgs::SetMode>
("uav1/mavros/set_mode");
ros::Publisher local_pos_pub2 = nh.advertise<geometry_msgs::PoseStamped>
("uav2/mavros/setpoint_position/local", 10);
ros::ServiceClient arming_client2 = nh.serviceClient<mavros_msgs::CommandBool>
("uav2/mavros/cmd/arming");
ros::ServiceClient set_mode_client2 = nh.serviceClient<mavros_msgs::SetMode>
("uav2/mavros/set_mode");
ros::Publisher local_pos_pub3 = nh.advertise<geometry_msgs::PoseStamped>
("uav3/mavros/setpoint_position/local", 10);
ros::ServiceClient arming_client3 = nh.serviceClient<mavros_msgs::CommandBool>
("uav3/mavros/cmd/arming");
ros::ServiceClient set_mode_client3 = nh.serviceClient<mavros_msgs::SetMode>
("uav3/mavros/set_mode");
ros::Publisher local_pos_pub4 = nh.advertise<geometry_msgs::PoseStamped>
("uav4/mavros/setpoint_position/local", 10);
ros::ServiceClient arming_client4 = nh.serviceClient<mavros_msgs::CommandBool>
("uav4/mavros/cmd/arming");
ros::ServiceClient set_mode_client4= nh.serviceClient<mavros_msgs::SetMode>
("uav4/mavros/set_mode");
ros::Publisher local_pos_pub5 = nh.advertise<geometry_msgs::PoseStamped>
("uav5/mavros/setpoint_position/local", 10);
ros::ServiceClient arming_client5 = nh.serviceClient<mavros_msgs::CommandBool>
("uav5/mavros/cmd/arming");
ros::ServiceClient set_mode_client5= nh.serviceClient<mavros_msgs::SetMode>
("uav5/mavros/set_mode");
ros::Publisher local_pos_pub6 = nh.advertise<geometry_msgs::PoseStamped>
("uav6/mavros/setpoint_position/local", 10);
ros::ServiceClient arming_client6 = nh.serviceClient<mavros_msgs::CommandBool>
("uav6/mavros/cmd/arming");
ros::ServiceClient set_mode_client6= nh.serviceClient<mavros_msgs::SetMode>
("uav6/mavros/set_mode");
ros::Publisher local_pos_pub7 = nh.advertise<geometry_msgs::PoseStamped>
("uav7/mavros/setpoint_position/local", 10);
ros::ServiceClient arming_client7 = nh.serviceClient<mavros_msgs::CommandBool>
("uav7/mavros/cmd/arming");
ros::ServiceClient set_mode_client7= nh.serviceClient<mavros_msgs::SetMode>
("uav7/mavros/set_mode");
ros::Publisher local_pos_pub8 = nh.advertise<geometry_msgs::PoseStamped>
("uav8/mavros/setpoint_position/local", 10);
ros::ServiceClient arming_client8 = nh.serviceClient<mavros_msgs::CommandBool>
("uav8/mavros/cmd/arming");
ros::ServiceClient set_mode_client8= nh.serviceClient<mavros_msgs::SetMode>
("uav8/mavros/set_mode");
ros::Publisher local_pos_pub9 = nh.advertise<geometry_msgs::PoseStamped>
("uav9/mavros/setpoint_position/local", 10);
ros::ServiceClient arming_client9 = nh.serviceClient<mavros_msgs::CommandBool>
("uav9/mavros/cmd/arming");
ros::ServiceClient set_mode_client9= nh.serviceClient<mavros_msgs::SetMode>
("uav9/mavros/set_mode");
//the setpoint publishing rate MUST be faster than 2Hz
ros::Rate rate(20.0);
geometry_msgs::PoseStamped pose,pose1,pose2,pose3,pose4,pose5,pose6,pose7,pose8,pose9;
pose.pose.position.x = 0;
pose.pose.position.y = 0;
pose.pose.position.z = 6;
pose1.pose.position.x = 0;
pose1.pose.position.y = 0;
pose1.pose.position.z = 6;
pose2.pose.position.x = 0;
pose2.pose.position.y = 0;
pose2.pose.position.z = 6;
pose3.pose.position.x = 0;
pose3.pose.position.y = 0;
pose3.pose.position.z = 6;
pose4.pose.position.x =0;
pose4.pose.position.y =0;
pose4.pose.position.z =6;
pose5.pose.position.x =0;
pose5.pose.position.y =0;
pose5.pose.position.z =6;
pose6.pose.position.x =0;
pose6.pose.position.y =0;
pose6.pose.position.z =6;
pose7.pose.position.x =0;
pose7.pose.position.y =0;
pose7.pose.position.z =6;
pose8.pose.position.x =0;
pose8.pose.position.y =0;
pose8.pose.position.z =6;
pose9.pose.position.x =0;
pose9.pose.position.y =0;
pose9.pose.position.z =6;
mavros_msgs::SetMode offb_set_mode;
offb_set_mode.request.custom_mode = "TAKEOFF";
mavros_msgs::CommandBool arm_cmd;
arm_cmd.request.value = true;
ros::Time last_request = ros::Time::now();
int flag=0;
while(ros::ok()){
if(flag>30)
{
pose.pose.position.x = 0;
pose.pose.position.y = 10;
pose.pose.position.z = 6;
pose1.pose.position.x = 0;
pose1.pose.position.y = 10;
pose1.pose.position.z = 6;
pose2.pose.position.x = 0;
pose2.pose.position.y = 10;
pose2.pose.position.z = 6;
pose3.pose.position.x = 0;
pose3.pose.position.y = 10;
pose3.pose.position.z = 6;
pose4.pose.position.x =0;
pose4.pose.position.y =10;
pose4.pose.position.z =6;
pose5.pose.position.x =0;
pose5.pose.position.y =10;
pose5.pose.position.z =6;
pose6.pose.position.x =0;
pose6.pose.position.y =10;
pose6.pose.position.z =6;
pose7.pose.position.x =0;
pose7.pose.position.y =10;
pose7.pose.position.z =6;
pose8.pose.position.x =0;
pose8.pose.position.y =10;
pose8.pose.position.z =6;
pose9.pose.position.x =0;
pose9.pose.position.y =10;
pose9.pose.position.z =6;
}
set_mode_client.call(offb_set_mode);
arming_client.call(arm_cmd);
local_pos_pub.publish(pose);
set_mode_client1.call(offb_set_mode);
arming_client1.call(arm_cmd);
local_pos_pub1.publish(pose1);
set_mode_client2.call(offb_set_mode);
arming_client2.call(arm_cmd);
local_pos_pub2.publish(pose2);
set_mode_client3.call(offb_set_mode);
arming_client3.call(arm_cmd);
local_pos_pub3.publish(pose3);
set_mode_client4.call(offb_set_mode);
arming_client4.call(arm_cmd);
local_pos_pub4.publish(pose4);
set_mode_client5.call(offb_set_mode);
arming_client5.call(arm_cmd);
local_pos_pub5.publish(pose5);
set_mode_client6.call(offb_set_mode);
arming_client6.call(arm_cmd);
local_pos_pub6.publish(pose6);
set_mode_client7.call(offb_set_mode);
arming_client7.call(arm_cmd);
local_pos_pub7.publish(pose7);
set_mode_client8.call(offb_set_mode);
arming_client8.call(arm_cmd);
local_pos_pub8.publish(pose8);
set_mode_client9.call(offb_set_mode);
arming_client9.call(arm_cmd);
local_pos_pub9.publish(pose9);
flag++;
ros::spinOnce();
rate.sleep();
}
return 0;
}
然后先执行launch文件。再执行控制节点，就可以实现多机控制
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