Eight, keyboard control drone · on (launch file interpretation)

Hand-picked stars dare not speak loudly 2020-05-29 16:10:33 434 Collection 8

Category column: PX4 Article tags: python linux

Last release: 2020-05-29 16:10:33 First release: 2020-05-29 16:10:33

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Link to this article: https://blog.csdn.net/weixin_44917390/article/details/106427533

The notes come from an open source project: UAV simulation platform based on PX4 and ROS

From the open source project: GAAS

1. Interpret the indoor1.launch file that starts the simulation program

This step is equivalent to the mavlink communication between px4 and simulator in the second picture above

We open the indoor1.launch file Kangkang, and the interpretation is in the picture:

Then we open the above posix_sitl.launch file Kangkang:

Then there is another px4.launch file Kang Kang:

After reading this piece of code, I actually feel that there are still some configurations to start the simulation, the same as above. For the game, just change the model and map.

Note that mavros appears above, that is just to start some basic configuration files, and does not open the mavros package to publish related news

We run: ...check the connection of mavros and find

rostopic echo /mavros/state

There will be a warning that mavros has no pub!

2. Open the program, view nodes, topics, and services

Topic after opening indoor1.launch:

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

service:

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