仿真效果
实机效果
由于图片限制5M以内，只能上传一小段了，整段视频请点击链接 Pixhawk 6c | 无人机 | 键盘控制无人机 | Offboard模式
核心： 发布 mavros/setpoint_velocity/cmd_vel_unstamped 话题，控制x y z三个方向的速度
运行前先运行PX4自带仿真，例如
roslaunch px4 mavros_posix_sitl.launch
接着运行以下代码（根据WHEELTEC麦克纳姆轮小车的键盘控制代码改写）
控制顺序：
先按 5 开启offboard 模式
再按 6 解锁，会看到浆液开始转动
再按 7 起飞 （这里起飞后就不在 offboard 模式）
再按一次 5 切换到 offboard 模式（之后就可以通过键盘控制前后运动，左右旋转了）
控制运动键如下
i 键：前进
K 键：停止运动
, 键：后退
J 键：向左转
L键：向右转
运动速度调整键如下
常用键如下：
W 键：增加运动线速度
X 键：减少运动线速度
E 键：增加旋转角速度
C 键：减少旋转角速度
降落
空格键
#!/usr/bin/env python
# coding=utf-8
import rospy
from geometry_msgs.msg import Twist
from geometry_msgs.msg import PoseStamped
from mavros_msgs.srv import *
from mavros_msgs.msg import State
import math
import sys, select, termios, tty
# 空格：降落
# 5 ：开启offboard模式
# 6 ：解锁，准备起飞
# 7 ：起飞
msg = """
Control Your Turtlebot!
---------------------------
Moving around:
u i o
j k l
m , .
q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
space key, k : force stop
anything else : stop smoothly
b : switch to OmniMode/CommonMode
CTRL-C to quit
"""
Omni = 0 #全向移动模式
#键值对应移动/转向方向
moveBindings = {
'i':( 1, 0),
'o':( 1,-1),
'j':( 0, 1),
'l':( 0,-1),
'u':( 1, 1),
',':(-1, 0),
'.':(-1, 1),
'm':(-1,-1),
}
#键值对应速度增量
speedBindings={
'q':(1.1,1.1),
'z':(0.9,0.9),
'w':(1.1,1),
'x':(0.9,1),
'e':(1, 1.1),
'c':(1, 0.9),
}
#获取键值函数
def getKey():
tty.setraw(sys.stdin.fileno())
rlist, _, _ = select.select([sys.stdin], [], [], 0.1)
if rlist:
key = sys.stdin.read(1)
else:
key = ''
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
return key
speed = 0.2 #默认移动速度 m/s
turn = 1 #默认转向速度 rad/s
#以字符串格式返回当前速度
def vels(speed,turn):
return "currently:\tspeed %s\tturn %s " % (speed,turn)
sita = 0.0 # 朝向
z = 0
w = 0
zf = 1
# 回调函数:订阅无人机位姿
def pose_cb(m):
global sita
global z
global w
global zf
z = m.pose.orientation.z
w = m.pose.orientation.w
# 计算朝向在x轴的上方还是下方
if z*w > 0:
zf = 1
else:
zf = -1
sita = 2*math.acos(w)*180/math.pi
# rospy.loginfo('%.2f\r',sita)
current_state = State()
# 回调函数：订阅mavros状态
def state_cb(state):
global current_state
current_state = state
#主函数
if __name__=="__main__":
settings = termios.tcgetattr(sys.stdin) #获取键值初始化，读取终端相关属性
rospy.init_node('turtlebot_teleop') #创建ROS节点
pub = rospy.Publisher('mavros/setpoint_velocity/cmd_vel_unstamped', Twist, queue_size=5) #创建速度话题发布者
# 订阅无人机位姿
rospy.Subscriber('mavros/local_position/pose',PoseStamped, pose_cb)
# 订阅mavros状态
rospy.Subscriber('mavros/state',State,state_cb)
# 定义起飞降落服务客户端（起飞，降落）
setModeServer = rospy.ServiceProxy('mavros/set_mode',SetMode)
armServer = rospy.ServiceProxy('/mavros/cmd/arming', CommandBool)
x = 0 #前进后退方向
y = 0 #左右移动方向
z = 0 #上下移动方向
th = 0 #转向/横向移动方向
count = 0 #键值不再范围计数
target_speed = 0 #前进后退目标速度
target_z_speed = 0 #上下运动目标速度
target_turn = 0 #转向目标速度
control_speed = 0 #前进后退实际控制速度
control_z_speed = 0 #上下运动实际控制速度
control_turn = 0 #转向实际控制速度
try:
print(msg) #打印控制说明
print(vels(speed,turn)) #打印当前速度
while(1):
key = getKey() #获取键值
# if key:
# print('key = ',key)
#判断键值是否在移动/转向方向键值内
# if key in moveBindings.keys():
# x = moveBindings[key][0]
# th = moveBindings[key][1]
# count = 0
if key == 'i': #前进
count = 0
x = 1
z = 0
elif key == ',': #后退
count = 0
x = -1
z = 0
elif key == 'j': #往左转
count = 0
th = 1
z = 0
elif key == 'l': #往右转
count = 0
th = -1
z = 0
elif key == 'r': #上升
count = 0
z = 1
elif key == 'f': #下降
count = 0
z = -1
#判断键值是否在速度增量键值内
elif key in speedBindings.keys():
speed = speed * speedBindings[key][0]
turn = turn * speedBindings[key][1]
count = 0
print(vels(speed,turn)) #速度发生变化，打印出来
#空键值/'k',相关变量置0
elif key == 'k' :
x = 0
y = 0
z = 0
th = 0
control_speed = 0
control_z_speed = 0
control_turn = 0
# 降落
elif key == ' ':
print("Vehicle Land")
setModeServer(custom_mode='AUTO.LAND')
# 开启offboard模式
elif key == '5':
if current_state.mode != "OFFBOARD" :
setModeServer(custom_mode='OFFBOARD')
print("Offboard enabled")
# 解锁，准备起飞
elif key == '6':
armServer(True)
print("Vehicle armed")
# 起飞
elif key == '7':
print("Vehicle Takeoff")
setModeServer(custom_mode='AUTO.TAKEOFF')
#长期识别到不明键值，相关变量置0
else:
count = count + 1
if count > 4:
x = 0
y = 0
z = 0
th = 0
if (key == '\x03'):
break
#根据速度与方向计算目标速度
target_speed = speed * x
target_z_speed = speed * z
target_turn = turn * th
#x方向平滑控制，计算前进后退实际控制速度
if target_speed > control_speed:
control_speed = min( target_speed, control_speed + 0.1 )
elif target_speed < control_speed:
control_speed = max( target_speed, control_speed - 0.1 )
else:
control_speed = target_speed
#z方向平滑控制，实际控制速度
if target_z_speed > control_z_speed:
control_z_speed = min( target_z_speed, control_z_speed + 0.1 )
elif target_z_speed < control_z_speed:
control_z_speed = max( target_z_speed, control_z_speed - 0.1 )
else:
control_z_speed = target_z_speed
#平滑控制，计算转向实际控制速度
if target_turn > control_turn:
control_turn = min( target_turn, control_turn + 0.5 )
elif target_turn < control_turn:
control_turn = max( target_turn, control_turn - 0.5 )
else:
control_turn = target_turn
# 计算出y方向的sin值
y_sita = math.sin(sita/180*math.pi)
# 如果小于0，则改为正数
if y_sita < 0:
y_sita = -y_sita
# 乘以y分量的正负（通过四元数z*w获得，z*w>0,y分量在x轴上方）
y_sita = y_sita * zf
twist = Twist() #创建ROS速度话题变量
twist.linear.x = control_speed * math.cos(sita/180*math.pi)
twist.linear.y = control_speed * y_sita # 朝向速度乘以y轴sin值
twist.linear.z = control_z_speed
twist.angular.x = 0
twist.angular.y = 0
twist.angular.z = control_turn
pub.publish(twist) #ROS发布速度话题
#运行出现问题则程序终止并打印相关错误信息
except Exception as e:
print(e)
#程序结束前发布速度为0的速度话题
finally:
twist = Twist()
twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0
twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = control_turn
pub.publish(twist)
#程序结束前设置终端相关属性
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
跑实机的话，就不需要运行gazebo仿真了，直接运行mavros的px4.launch文件
roslaunch mavros px4.launch
再运行上面代码即可控制实机（我用的飞控是 Pixhawk6C）
实机操作有风险，请各位有十足把握后再尝试实机