警告:请先在仿真环境下进行测试,能达到预期效果后在进行实际飞行测试,以免发生意外。本篇文章只是用作学习交流,实际飞行时如出现意外情况作者不予以负责。
所需材料
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1、PIXhawk或者Pixracer
2、能够运行MAVROS的树莓派3B
3、一根micro USB 数据线
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在上一个片文章当中介绍了如何搭建ROS系统,并且运行MAVROS包来监听一个飞控消息,本篇文章将讨论如何使用MAVROS来控制无人机进行一键起飞功能。
一、创建一个offboard节点
1、在/catkin_ws/src目录中创建一个新的
offb_node.cpp
文件
roscd px4_mavros/src
vim offb_node.cpp
2、写入控制代码
参考官网给出的历程
/**
* @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;
}
3、编辑CMakeLists.txt文件
rosed px4_mavros CMakeLists.txt
加入一下代码:
add_executable(offb_node src/offb_node.cpp)
target_link_libraries(offb_node ${catkin_LIBRARIES})
4、编译源码
cd ~/catkin_ws
catkin_make
二、运行offboard节点
警告:在进行下面操作前请将螺旋桨摘除再进行测试,避免误伤。
1、运行启动文件
roslaunch mavros px4.launch
2、启动按钮解锁
长按启动爱开关进行解锁操作。
3、运行节点
如果有仿真环境,则可以看到飞行器缓缓升高,直至保持在一个高度。
rosrun px4_mavros offb_node
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参考文章:
https://dev.px4.io/en/ros/mavros_offboard.html
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