Jetson的mavros使用offboard模式，终端按键控制无人机飞行

Posted 2022-01-31 XXX_UUU_XXX

基于Promethues根据wiki配置好之后可以实现使用终端控制，起飞；降落；前后左右飞行；上升下降左转右转；

开始我基于仿真测试实机不成功，是因为某个运行节点没有打开，仔细看gazebo.launch文件里仿真部分还加载了一个sitl.launch文件，它里面启动了相关节点。

仿真

终端1：make px4_sitl gazebo

终端2：roslaunch my_px4.launch

实机

修改mavros的fcu_url为/dev/ttyTHS1，然后运行

sudo chmod 777 /dev/ttyTHS1

roslaunch my_px4.launch

<launch>
	<!-- 启动MAVROS -->
	<!-- 不同机载电脑,注意修改fcu_url至正确的端口号及波特率 -->
	<node pkg="mavros" type="mavros_node" name="mavros" output="screen">
		<!-- 与飞控连接方式，需要配置 -->
        <param name="fcu_url" value="udp://:14540@127.0.0.1:14557" />
		<param name="gcs_url" value="" />
		<param name="target_system_id" value="1" />
		<param name="target_component_id" value="1" />
		<rosparam command="load" file="$(find prometheus_experiment)/config/mavros_config/px4_pluginlists.yaml" />
		<rosparam command="load" file="$(find prometheus_experiment)/config/mavros_config/px4_config.yaml" />
	</node> 
    
    <!-- Spawn vehicle model -->
	<!-- https://github.com/ros-simulation/gazebo_ros_pkgs/blob/kinetic-devel/gazebo_ros/scripts/spawn_model -->
    <!-- 初始位置 -->
	<arg name="x" default="0.0"/>
    <arg name="y" default="0.0"/>
    <arg name="z" default="0.2"/>
	<arg name="R" default="0.0"/>
    <arg name="P" default="0.0"/>
    <arg name="Y" default="0.0"/>
	
	<!-- TF transform -->
	<include file="$(find prometheus_gazebo)/launch_basic/tf_transform.launch">
		<arg name="x" value="$(arg x)"/>
    	<arg name="y" value="$(arg y)"/>
    	<arg name="z" value="$(arg z)"/>
    </include>

	<!-- 启动Prometheus代码 -->
	<!-- run the px4_pos_estimator.cpp -->
	<arg name="input_source" default="2"/>
	<arg name="rate_hz" default="30"/>
	<node pkg="prometheus_control" type="px4_pos_estimator" name="px4_pos_estimator" output="screen">
		<!-- 定位数据输入源 0 for vicon， 1 for 激光SLAM, 2 for gazebo ground truth, 3 for T265 -->
		<param name="input_source" value="$(arg input_source)" />
		<param name="rate_hz" value="$(arg rate_hz)" />
		<param name="offset_x" value="$(arg x)" />
		<param name="offset_y" value="$(arg y)" />
		<param name="offset_z" value="$(arg z)" />
	</node>
	
	<node pkg="prometheus_control" type="px4_sender" name="px4_sender" output="screen">
		<rosparam command="load" file="$(find prometheus_gazebo)/config/prometheus_control_config/px4_sender.yaml"/>
	</node>

	<!-- run the ground_station.cpp -->
	<node pkg="prometheus_station" type="ground_station" name="ground_station" output="screen" launch-prefix="gnome-terminal --tab --">	
	</node>

	<!-- run the ground_station_msg.cpp -->
	<node pkg="prometheus_station" type="ground_station_msg" name="ground_station_msg" output="screen" launch-prefix="gnome-terminal --tab --">	
	</node>

    <!-- run the terminal_control.cpp -->
	<node pkg="prometheus_control" type="terminal_control" name="terminal_control" output="screen" launch-prefix="gnome-terminal --">	
		<rosparam command="load" file="$(find prometheus_gazebo)/config/prometheus_control_config/terminal_control.yaml" />
	</node>	

</launch>