ROS-PX4-Autopilot仿真笔记_1_rqt控制无人机起飞-优快云博客

文章描述了在ROS环境中使用PX4进行的两个无人机控制实验，包括offboard模式测试、LQR控制器应用以及minijerk轨迹跟踪。涉及的命令行启动脚本和服务调用展示了如何在Gazebo模拟器中操控无人机并进行航迹规划。

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offbord模式测试

rosrun offboard_pkg position

stablelize模式

在这里插入图片描述

实验一：lqr控制器实验

roslaunch px4 fast_test.launch

无人机起飞1.5-2m

sh mybot_gazebo.sh

#roslaunch px4 fast_racing.launch & sleep 20;
roslaunch ego_planner single_run_in_gazebo.launch & sleep 10;
roslaunch px4ctrl run_node.launch & sleep 10;
rosrun rqt_reconfigure rqt_reconfigure & sleep 10;
roslaunch ego_planner rviz.launch

先点击mode，再点击cmd，才能打开offbord模式

实验二：minijerk实验

roslaunch px4 fast_test.launch 

sh  fast_track.sh
bash trach.bash

roslaunch kr_mav_launch track_circle.launch & sleep 5;
roslaunch px4ctrl run_node.launch & sleep 5;
rosrun rqt_reconfigure rqt_reconfigure


#!/bin/bash

if [ $# -eq 0 ]; then
  echo "Ready to Fly, Please Away From it "
  #exit 1
fi

read -p "Press [Enter] to go to [3.5, 0, 2]"
rosservice call /mav_services/goTo "goal: [3.5, 0.0, 2, 0.0]"
sleep 1

read -p "Press [Enter] to circle track {Ax: 3, Ay: 3, T: 9.0, duration: 12.0}"
rosservice call /mav_services/circle "{Ax: 3, Ay: 3, T: 9.0, duration: 12.0}" 
sleep 1

ego实机

sh odom_vins.sh

roslaunch ego_planner single_run_in_exp_test.launch

roslaunch ego_planner rviz

sh record.sh

roslaunch ./vins_rviz.launch

rosbag play ...