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 【找到 PX4 安装目录，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】

a646c284c8fdc5908988648aa4898ebf

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 && . fishros

PX4 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[Err] [InsertModelWidget.cc:403] 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": [
                            {
                                "ImageType": 0,
                                "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.py

offb_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.launch

start_offb.launch

<?xml version="1.0"?>
<launch>
  <!-- Include the MAVROS node with SITL and Gazebo -->
<!--   <include file="$(find px4)/launch/mavros_posix_sitl.launch"></include> -->
  
  <!-- MAVROS 仅连接 AirSim 中的 PX4 SITL -->
  <arg name="fcu_url" default="udp://:14540@192.168.1.5:14557"/>
  <arg name="gcs_url" default=""/>
  <arg name="respawn_mavros" default="false"/>

  <include file="$(find mavros)/launch/px4.launch">
    <arg name="fcu_url" value="$(arg fcu_url)"/>
    <arg name="gcs_url" value="$(arg gcs_url)"/>
    <arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
  </include>

  <!-- Offboard 控制节点 -->
  <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

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:~$ roscore

yehuo@zyl:~$ roslaunch offboard_py start_offb.launch

step5: 查看话题是否成功获取

yehuo@zyl:~$ rostopic list

posted @ 2025-07-29 15:39 zylyehuo 阅读(97) 评论(0) 收藏举报

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博客地址： https://www.cnblogs.com/zylyehuo/ github地址：https://github.com/zylyehuo gitee地址：https://gitee.com/zylyehuo

ROS1(20.04 noetic) + PX4 + AirSim

最终效果

安装 ROS

PX4 开发环境搭建

AirSim 仿真平台搭建

使用Airsim的ros包

AirSim 配置文件修改

安装 Micro-XRCE-DDS-Agent

开发流程

offb_node.py

start_offb.launch

流程框架整理

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