无人机跟踪降落移动目标寻求帮助

急需帮助
我想进行xtdrone这个无人机跟踪降落的仿真


作者提供了github网站给了几个文件，但我毫无头绪


这几个是包文件夹，是要放在catkin_ws里的src文件里吗
但是roslaunch px4 px4_car.launch里px4_car.launch提到

mobot_urdf包是不是要自己写啊，作者没有提供这个包，网上也找不到这种包

```c++
<?xml version="1.0"?>
<launch>
    <!-- Posix SITL environment launch script -->
    <!-- launches PX4 SITL, Gazebo environment, and spawns vehicle -->
    <!-- vehicle pose -->
    <arg name="x" default="0"/>
    <arg name="y" default="0"/>
    <arg name="z" default="0"/>
    <arg name="R" default="0"/>
    <arg name="P" default="0"/>
    <arg name="Y" default="0"/>
    <arg name="enable_cameras" default="true"/>
    <arg name="enable_depth" default="true"/>
    <arg name="enable_ground_truth" default="false"/>
    <!-- vehicle model and world -->
    <arg name="est" default="ekf2"/>
    <arg name="vehicle" default="iris"/>
    <arg name="fcu_url" default="udp://:14540@localhost:14557"/>
    <arg name="world" default="$(find mobot_urdf)/launch/myworld1.world"/>  
<param name="robot_description" command="$(find xacro)/xacro '$(find mobot_urdf)/urdf/iris/no_arm_iris_base.xacro'"/>
    <env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
    <env name="PX4_ESTIMATOR" value="$(arg est)" />

    <!-- gazebo configs -->
    <arg name="gui" default="true"/>
    <arg name="debug" default="false"/>
    <arg name="verbose" default="false"/>
    <arg name="paused" default="false"/>
    <arg name="respawn_gazebo" default="false"/>
    <!-- PX4 configs -->
    <arg name="interactive" default="true"/>
    <!-- PX4 SITL -->
    <arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
    <arg     if="$(arg interactive)" name="px4_command_arg1" value=""/>
    <node name="sitl" pkg="px4" type="px4" output="screen"
        args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS $(arg px4_command_arg1)" required="true"/>
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
   <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
     args="-urdf -model iris -x -42 -y 0 -z 0.2 -param robot_description"/>
  <!--启动云台控制-->
    <include file="$(find dji_gimbal)/launch/gimbal_dji_controll.launch"/>
    <node pkg="dji_gimbal" type="stabilization.py" name="stabilization" output="screen"/>
<!-- MAVROS -->
    <include file="$(find mavros)/launch/px4.launch">
        <!-- GCS link is provided by SITL -->
        <arg name="gcs_url" value=""/>
        <arg name="fcu_url" value="$(arg fcu_url)"/> 
    
    </include> 

<group ns="mobot">
    <param name="robot_description" command="$(find xacro)/xacro  '$(find mobot_urdf)/urdf/1_car.xacro'
    enable_cameras:=$(arg enable_cameras)
    enable_depth:=$(arg enable_depth)
    enable_ground_truth:=$(arg enable_ground_truth)"
  />
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
     args="-urdf -model mobot2 -x -35 -z 0.1 -param robot_description"/>

</group>
    <!-- Gazebo sim -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="gui" value="$(arg gui)"/>
        <arg name="world_name" value="$(arg world)"/>
        <arg name="debug" value="$(arg debug)"/>
        <arg name="verbose" value="$(arg verbose)"/>
        <arg name="paused" value="$(arg paused)"/>
        <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
    </include>
   
</launch>

```