px4无人机添加单目摄像头

最新推荐文章于 2025-04-16 11:17:33 发布

原创最新推荐文章于 2025-04-16 11:17:33 发布 · 428 阅读

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#无人机

本文参考1 参考2

表示说明

1.修改launch文件

修改PX4-Autopilot/launch/mavros_posix_sitl.launch

<?xml version="1.0"?>

<launch>
    <!-- MAVROS posix SITL environment launch script -->
    <!-- launches MAVROS, 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" />

    <!-- vehicle model and world -->
    <arg name="est" default="ekf2" />
    <arg name="vehicle" default="iris" />
    <arg name="my_model" default="iris_fpv_cam" />
    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world" />
    <!-- <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf" /> -->
    <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg my_model)/$(arg my_model).sdf" />

    <!-- 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" />

    <!-- MAVROS configs -->
    <arg name="fcu_url" default="udp://:14540@localhost:14557" />
    <arg name="respawn_mavros" default="false" />

    <!-- PX4 configs -->
    <arg name="interactive" default="true" />

    <!-- PX4 SITL and Gazebo -->
    <include file="$(find px4)/launch/posix_sitl.launch">
        <arg name="x" value="$(arg x)" />
        <arg name="y" value="$(arg y)" />
        <arg name="z" value="$(arg z)" />
        <arg name="R" value="$(arg R)" />
        <arg name="P" value="$(arg P)" />
        <arg name="Y" value="$(arg Y)" />
        <arg name="world" value="$(arg world)" />
        <arg name="vehicle" value="$(arg vehicle)" />
        <arg name="sdf" value="$(arg sdf)" />
        <arg name="gui" value="$(arg gui)" />
        <arg name="interactive" value="$(arg interactive)" />
        <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>

    <!-- 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)" />
        <arg name="respawn_mavros" value="$(arg respawn_mavros)" />
    </include>
</launch>

在/home/demo/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris_fpv_cam/iris_fpv_cam.sdf修改，改变摄像头朝向

 <include>
      <uri>model://fpv_cam</uri>
      <pose>0 0 0 0 1.57 0</pose>
    </include>