ROS1(20.04 noetic) + PX4 + AirSim
博客地址：https://www.cnblogs.com/zylyehuo/参考视频： 保姆级教程~手把手教你实现 ROS2 + PX4 + AirSim 联动
博主使用的版本配置如下：
[*]ROS： 20.04 noetic 【echo $ROS_DISTRO】
[*]PX4： v1.13.2 【git describe --tags】
[*]AirSim： 1.7.0 【找到\Unreal\Plugins\AirSim这个目录，进入后，打开AirSim.uplugin文件查看版本】
最终效果
安装 ROS
[*]20.04 noetic
参考链接： 小鱼的一键安装系列
wget http://fishros.com/install -O fishros && . fishrosPX4 开发环境搭建
[*]MAVROS + QGC + PX4
参考链接： PX4 仿真环境开发整理
参考链接： Linux系统 ubuntu20.04 无人机 PX4 开发环境搭建
遇到报错参考链接： make px4_sitl_default gazebo出错
遇到报错参考链接： Gazebo终端显示 Missing model.config for model
遇到报错参考链接： px4 运行mavros仿真
AirSim 仿真平台搭建
[*]UE4 + AirSim
参考链接： 在Ubuntu系统中搭建Unreal4和AirSim环境
使用Airsim的ros包
参考链接： ubuntu20.04下载和使用Airsim的ros包
遇到报错参考链接： 解决Ubuntu系统下ROS包找不到问题：环境配置与路径检查详解
AirSim 配置文件修改
settings.json
{
"SettingsVersion": 1.2,
"SimMode": "Multirotor",
"ClockType": "SteppableClock",
"Vehicles": {
"PX4": {
"VehicleType": "PX4Multirotor",
"UseSerial": false,
"LockStep": true,
"UseTcp": true,
"TcpPort": 4560,
"ControlPortLocal": 14030,
"ControlPortRemote": 14280,
"ControlIp": "remote",
"LocalHostIp": "192.168.1.5",
"Cameras": {
"CameraDepth": {
"CaptureSettings": [
{
"ImageType": 2,
"Width": 800,
"Height": 600,
"FOV_Degrees": 120,
"AutoExposureSpeed": 100,
"AutoExposureBias": 0,
"AutoExposureMaxBrightness": 0.64,
"AutoExposureMinBrightness": 0.03,
"MotionBlurAmount": 0,
"TargetGamma": 1.0,
"ProjectionMode": "",
"OrthoWidth": 5.12
}
],
"NoiseSettings": [
{
"Enabled": false,
"ImageType": 0,
"RandContrib": 0.2,
"RandSpeed": 100000.0,
"RandSize": 500.0,
"RandDensity": 2,
"HorzWaveContrib":0.03,
"HorzWaveStrength": 0.08,
"HorzWaveVertSize": 1.0,
"HorzWaveScreenSize": 1.0,
"HorzNoiseLinesContrib": 1.0,
"HorzNoiseLinesDensityY": 0.01,
"HorzNoiseLinesDensityXY": 0.5,
"HorzDistortionContrib": 1.0,
"HorzDistortionStrength": 0.002
}
],
"Gimbal": {
"Stabilization": 0,
"Pitch": 0, "Roll": 0, "Yaw": 0
},
"X": 0, "Y": 0, "Z": -1,
"Pitch": 0, "Roll": 0, "Yaw": 0,
"UnrealEngine": {
"PixelFormatOverride": [
{
<?xml version="1.0"?>
<launch>
<include file="$(find mavros)/launch/px4.launch">
</include>
<node pkg="offboard_py" type="offb_node.py" name="offb_node_py" required="true" output="screen"/>
</launch>"ImageType": 0,
<?xml version="1.0"?>
<launch>
<include file="$(find mavros)/launch/px4.launch">
</include>
<node pkg="offboard_py" type="offb_node.py" name="offb_node_py" required="true" output="screen"/>
</launch>"PixelFormat": 0
}
]
}
},
"CameraImage": {
"CaptureSettings": [
{
"ImageType": 0,
"Width": 800,
"Height": 600,
"FOV_Degrees": 120,
"AutoExposureSpeed": 100,
"AutoExposureBias": 0,
"AutoExposureMaxBrightness": 0.64,
"AutoExposureMinBrightness": 0.03,
"MotionBlurAmount": 0,
"TargetGamma": 1.0,
"ProjectionMode": "",
"OrthoWidth": 5.12
}
],
"X": 0, "Y": 0, "Z": -1,
"Pitch": 0, "Roll": 0, "Yaw": 0
}
},
"Sensors":{
"Magnetometer": {
"SensorType": 4,
"Enabled": true
},
"Barometer":{
"SensorType": 1,
"Enabled": true,
"PressureFactorSigma": 0.0001825
},
"Imu": {
"SensorType": 2,
"Enabled" : true,
"AngularRandomWalk": 0.3,
"GyroBiasStabilityTau": 500,
"GyroBiasStability": 4.6,
"VelocityRandomWalk": 0.24,
"AccelBiasStabilityTau": 800,
"AccelBiasStability": 36
},
"Gps": {
"SensorType": 3,
"Enabled" : true,
"EphTimeConstant": 0.9,
"EpvTimeConstant": 0.9,
"EphInitial": 25,
"EpvInitial": 25,
"EphFinal": 0.1,
"EpvFinal": 0.1,
"EphMin3d": 3,
"EphMin2d": 4,
"UpdateLatency": 0.2,
"UpdateFrequency": 50,
"StartupDelay": 1
},
"Lidar": {
"SensorType": 6,
"Enabled": true,
"NumberOfChannels": 16,
"RotationsPerSecond": 10,
"PointsPerSecond": 100000,
"X": 0, "Y": 0, "Z": -1,
"Roll": 0, "Pitch": 0, "Yaw": 0,
"VerticalFOVUpper": 10,
"VerticalFOVLower": -10,
"HorizontalFOVStart": -20,
"HorizontalFOVEnd": 20,
"DrawDebugPoints": true,
"DataFrame": "SensorLocalFrame"
},
"DistanceDown": {
"SensorType": 5,
"Enabled" : true,
"MinDistance": 0.1,
"MaxDistance": 40,
"X": 0, "Y": 0, "Z": -0.5,
"Yaw": 0, "Pitch": -90, "Roll": 0,
"DrawDebugPoints": true,
"ExternalController": true
}
},
"Parameters": {
"NAV_RCL_ACT": 0,
"NAV_DLL_ACT": 0,
"COM_OBS_AVOID": 0
}
}
}
}安装 Micro-XRCE-DDS-Agent
参考链接： Installing the Agent standalone
[*]安装指令
$ git clone https://github.com/eProsima/Micro-XRCE-DDS-Client.git
$ cd Micro-XRCE-DDS-Client
$ mkdir build && cd build
$ cmake ..
$ make -j8
$ sudo make install
$ sudo ldconfig /usr/local/lib/
$ MicroXRCEAgent --help开发流程
参考链接： MAVROS Offboard control example (Python)
yehuo@zyl:~$ mkdir px4_airsim_ros1_ws
yehuo@zyl:~$ cd px4_airsim_ros1_ws
yehuo@zyl:~/px4_airsim_ros1_ws$ mkdir src
yehuo@zyl:~/px4_airsim_ros1_ws$ cd src
yehuo@zyl:~/px4_airsim_ros1_ws/src$ catkin_create_pkg offboard_py rospy
yehuo@zyl:~/px4_airsim_ros1_ws/src$ cd ..
yehuo@zyl:~/px4_airsim_ros1_ws$ catkin build
yehuo@zyl:~/px4_airsim_ros1_ws$ source devel/setup.bash
yehuo@zyl:~/px4_airsim_ros1_ws$ roscd offboard_py
yehuo@zyl:~/px4_airsim_ros1_ws/src/offboard_py$ mkdir scripts
yehuo@zyl:~/px4_airsim_ros1_ws/src/offboard_py$ cd scripts
yehuo@zyl:~/px4_airsim_ros1_ws/src/offboard_py/scripts$ touch offb_node.py
yehuo@zyl:~/px4_airsim_ros1_ws/src/offboard_py/scripts$ chmod +x offb_node.pyoffb_node.py
"""
* File: offb_node.py
* Stack and tested in Gazebo 9 SITL
"""
#! /usr/bin/env python
import rospy
from geometry_msgs.msg import PoseStamped
from mavros_msgs.msg import State
from mavros_msgs.srv import CommandBool, CommandBoolRequest, SetMode, SetModeRequest
current_state = State()
def state_cb(msg):
global current_state
current_state = msg
if __name__ == "__main__":
rospy.init_node("offb_node_py")
state_sub = rospy.Subscriber("mavros/state", State, callback = state_cb)
local_pos_pub = rospy.Publisher("mavros/setpoint_position/local", PoseStamped, queue_size=10)
rospy.wait_for_service("/mavros/cmd/arming")
arming_client = rospy.ServiceProxy("mavros/cmd/arming", CommandBool)
rospy.wait_for_service("/mavros/set_mode")
set_mode_client = rospy.ServiceProxy("mavros/set_mode", SetMode)
# Setpoint publishing MUST be faster than 2Hz
rate = rospy.Rate(20)
# Wait for Flight Controller connection
while(not rospy.is_shutdown() and not current_state.connected):
rate.sleep()
pose = PoseStamped()
pose.pose.position.x = 0
pose.pose.position.y = 0
pose.pose.position.z = 2
# Send a few setpoints before starting
for i in range(100):
if(rospy.is_shutdown()):
break
local_pos_pub.publish(pose)
rate.sleep()
offb_set_mode = SetModeRequest()
offb_set_mode.custom_mode = 'OFFBOARD'
arm_cmd = CommandBoolRequest()
arm_cmd.value = True
last_req = rospy.Time.now()
while(not rospy.is_shutdown()):
if(current_state.mode != "OFFBOARD" and (rospy.Time.now() - last_req) > rospy.Duration(5.0)):
if(set_mode_client.call(offb_set_mode).mode_sent == True):
rospy.loginfo("OFFBOARD enabled")
last_req = rospy.Time.now()
else:
if(not current_state.armed and (rospy.Time.now() - last_req) > rospy.Duration(5.0)):
if(arming_client.call(arm_cmd).success == True):
rospy.loginfo("Vehicle armed")
last_req = rospy.Time.now()
local_pos_pub.publish(pose)
rate.sleep()yehuo@zyl:~/px4_airsim_ros1_ws/src/offboard_py/scripts$ roscd offboard_py
yehuo@zyl:~/px4_airsim_ros1_ws/src/offboard_py$ mkdir launch
yehuo@zyl:~/px4_airsim_ros1_ws/src/offboard_py$ cd launch
yehuo@zyl:~/px4_airsim_ros1_ws/src/offboard_py/launch$ touch start_offb.launchstart_offb.launch
<?xml version="1.0"?>
<launch>
<include file="$(find mavros)/launch/px4.launch">
</include>
<node pkg="offboard_py" type="offb_node.py" name="offb_node_py" required="true" output="screen"/>
</launch>yehuo@zyl:~/px4_airsim_ros1_ws/src/offboard_py/launch$ roslaunch offboard_py start_offb.launch
https://img2024.cnblogs.com/blog/3071480/202507/3071480-20250729151618121-792178433.png
流程框架整理
[*]step1: 启动 AirSim
[*]step2: 启动 PX4
yehuo@zyl:~/下载/PX4_Firmware$ make px4_sitl_default none_iris
[*]step3： 启动 DDS
yehuo@zyl:~$ MicroXRCEAgent udp4 -p 8888
[*]step4： 启动 MAVROS （Python版本）
yehuo@zyl:~$ roscoreyehuo@zyl:~$ roslaunch offboard_py start_offb.launch
[*]step5: 查看话题是否成功获取
yehuo@zyl:~$ rostopic list
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