没想到又是这位博主，佩服佩服！
这里面的launch文件注释写的真的是非常详细！
转载自：https://blog.csdn.net/weixin_44917390/article/details/106427533
八、键盘控制无人机 · 上（launch文件解读）
手可摘星辰不敢高声语 2020-05-29 16:10:33 434 收藏 8
最后发布:2020-05-29 16:10:33首次发布:2020-05-29 16:10:33
版权声明：本文为博主原创文章，遵循 CC 4.0 BY-SA 版权协议，转载请附上原文出处链接和本声明。
本文链接：https://blog.csdn.net/weixin_44917390/article/details/106427533
版权
笔记来源于开源项目：基于PX4和ROS的无人机仿真平台
来源于开源项目：GAAS
一、解读启动仿真程序的indoor1.launch 文件
这一步相当于上面第二张图中的px4和simulator之间的mavlink通信
我们打开indoor1.launch文件康康，解读都在图片当中：
然后我们打开上面的posix_sitl.launch文件康康：
接着还有另外一个px4.launch文件康康：
看完这一段的代码后，其实觉得还有，和上面一样，就是一些启动仿真的一些配置，对于比赛的话，改一下机型和地图就可
注意到上面出现了mavros，那个只是启动一些基础配置文件，并没有打开mavros包发布相关消息
我们运行：...查看mavros的连接情况，发现
rostopic echo /mavros/state
会出现mavros没有pub的警告！
二、打开程序，查看节点，话题，服务
打开indoor1.launch后的话题：
zhu@zhu-sf315-51g-50y6:~$ rostopic list
/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/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/image_raw/compressed
/iris_0/stereo_camera/left/image_raw/compressed/parameter_descriptions
/iris_0/stereo_camera/left/image_raw/compressed/parameter_updates
/iris_0/stereo_camera/left/image_raw/compressedDepth
/iris_0/stereo_camera/left/image_raw/compressedDepth/parameter_descriptions
/iris_0/stereo_camera/left/image_raw/compressedDepth/parameter_updates
/iris_0/stereo_camera/left/image_raw/theora
/iris_0/stereo_camera/left/image_raw/theora/parameter_descriptions
/iris_0/stereo_camera/left/image_raw/theora/parameter_updates
/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/image_raw/compressed
/iris_0/stereo_camera/right/image_raw/compressed/parameter_descriptions
/iris_0/stereo_camera/right/image_raw/compressed/parameter_updates
/iris_0/stereo_camera/right/image_raw/compressedDepth
/iris_0/stereo_camera/right/image_raw/compressedDepth/parameter_descriptions
/iris_0/stereo_camera/right/image_raw/compressedDepth/parameter_updates
/iris_0/stereo_camera/right/image_raw/theora
/iris_0/stereo_camera/right/image_raw/theora/parameter_descriptions
/iris_0/stereo_camera/right/image_raw/theora/parameter_updates
/iris_0/stereo_camera/right/parameter_descriptions
/iris_0/stereo_camera/right/parameter_updates
/rosout
/rosout_agg
/tf
/tf_static
服务：
zhu@zhu-sf315-51g-50y6:~$ rosservice list
/gazebo/apply_body_wrench
/gazebo/apply_joint_effort
/gazebo/clear_body_wrenches
/gazebo/clear_joint_forces
/gazebo/delete_light
/gazebo/delete_model
/gazebo/get_joint_properties
/gazebo/get_light_properties
/gazebo/get_link_properties
/gazebo/get_link_state
/gazebo/get_loggers
/gazebo/get_model_properties
/gazebo/get_model_state
/gazebo/get_physics_properties
/gazebo/get_world_properties
/gazebo/pause_physics
/gazebo/reset_simulation
/gazebo/reset_world
/gazebo/set_joint_properties
/gazebo/set_light_properties
/gazebo/set_link_properties
/gazebo/set_link_state
/gazebo/set_logger_level
/gazebo/set_model_configuration
/gazebo/set_model_state
/gazebo/set_parameters
/gazebo/set_physics_properties
/gazebo/spawn_sdf_model
/gazebo/spawn_urdf_model
/gazebo/unpause_physics
/gazebo_gui/get_loggers
/gazebo_gui/set_logger_level
/gazebo_gui/set_parameters
/iris_0/mavros/cmd/arming
/iris_0/mavros/cmd/command
/iris_0/mavros/cmd/command_int
/iris_0/mavros/cmd/land
/iris_0/mavros/cmd/set_home
/iris_0/mavros/cmd/takeoff
/iris_0/mavros/cmd/trigger_control
/iris_0/mavros/cmd/trigger_interval
/iris_0/mavros/cmd/vtol_transition
/iris_0/mavros/ftp/checksum
/iris_0/mavros/ftp/close
/iris_0/mavros/ftp/list
/iris_0/mavros/ftp/mkdir
/iris_0/mavros/ftp/open
/iris_0/mavros/ftp/read
/iris_0/mavros/ftp/remove
/iris_0/mavros/ftp/rename
/iris_0/mavros/ftp/reset
/iris_0/mavros/ftp/rmdir
/iris_0/mavros/ftp/truncate
/iris_0/mavros/ftp/write
/iris_0/mavros/get_loggers
/iris_0/mavros/home_position/req_update
/iris_0/mavros/log_transfer/raw/log_request_data
/iris_0/mavros/log_transfer/raw/log_request_end
/iris_0/mavros/log_transfer/raw/log_request_list
/iris_0/mavros/mission/clear
/iris_0/mavros/mission/pull
/iris_0/mavros/mission/push
/iris_0/mavros/mission/set_current
/iris_0/mavros/mount_control/configure
/iris_0/mavros/param/get
/iris_0/mavros/param/pull
/iris_0/mavros/param/push
/iris_0/mavros/param/set
/iris_0/mavros/set_logger_level
/iris_0/mavros/set_message_interval
/iris_0/mavros/set_mode
/iris_0/mavros/set_stream_rate
/iris_0/mavros/setpoint_position/mav_frame
/iris_0/mavros/setpoint_trajectory/mav_frame
/iris_0/mavros/setpoint_trajectory/reset
/iris_0/mavros/setpoint_velocity/mav_frame
/iris_0/mavros/vehicle_info_get
/iris_0/stereo_camera/left/image_raw/compressed/set_parameters
/iris_0/stereo_camera/left/image_raw/compressedDepth/set_parameters
/iris_0/stereo_camera/left/image_raw/theora/set_parameters
/iris_0/stereo_camera/left/set_camera_info
/iris_0/stereo_camera/left/set_parameters
/iris_0/stereo_camera/right/image_raw/compressed/set_parameters
/iris_0/stereo_camera/right/image_raw/compressedDepth/set_parameters
/iris_0/stereo_camera/right/image_raw/theora/set_parameters
/iris_0/stereo_camera/right/set_camera_info
/iris_0/stereo_camera/right/set_parameters
/rosout/get_loggers
/rosout/set_logger_level
/rqt_gui_py_node_11408/get_loggers
/rqt_gui_py_node_11408/set_logger_level
