XTdrone 设置位姿真值脚本，在运行时出错

原因可能是mavros和mavros_extra等的版本问题，修改get_local_pose.py脚本如下

import rospy
from geometry_msgs.msg import PoseStamped, TwistStamped
import sys
from gazebo_msgs.msg import ModelStates

vehicle_type = sys.argv[1]
vehicle_num = int(sys.argv[2])
multi_pose_pub = [None]*vehicle_num
multi_speed_pub = [None]*vehicle_num
multi_local_pose = [PoseStamped() for i in range(vehicle_num)]
multi_speed = [TwistStamped() for i in range(vehicle_num)]

def gazebo_model_state_callback(msg):
    for vehicle_id in range(vehicle_num):
        id = msg.name.index(vehicle_type+'_'+str(vehicle_id))
        multi_local_pose[vehicle_id].header.stamp = rospy.Time().now()
        multi_local_pose[vehicle_id].header.frame_id = 'map'
        multi_local_pose[vehicle_id].pose = msg.pose[id]
        multi_speed[vehicle_id].header.stamp = rospy.Time().now()
        multi_speed[vehicle_id].header.frame_id = 'map'
        multi_speed[vehicle_id].twist = msg.twist[id]
        print("success")

if __name__ == '__main__':
    rospy.init_node(vehicle_type+'_get_pose_groundtruth')
    gazebo_model_state_sub = rospy.Subscriber("/gazebo/model_states", ModelStates, gazebo_model_state_callback,queue_size=1)
    for i in range(vehicle_num):
        multi_pose_pub[i] = rospy.Publisher(vehicle_type+'_'+str(i)+'/mavros/vision_pose/pose', PoseStamped, queue_size=1)
        multi_speed_pub[i] = rospy.Publisher(vehicle_type+'_'+str(i)+'/mavros/vision_speed/speed_twist', TwistStamped, queue_size=1)
        print("Get " + vehicle_type + "_" + str(i) + " groundtruth pose")
    rate = rospy.Rate(30)
    while not rospy.is_shutdown():
        for i in range(vehicle_num):
            multi_pose_pub[i].publish(multi_local_pose[i])
            multi_speed_pub[i].publish(multi_speed[i])
        try:
            rate.sleep()
        except:
            continue

其实就是改了话题/mavros/vision_speed/speed_twist，猜测是版本更新后的话题。