PX4 仿真

ros

HIL with RC control §

HIL模擬 1.

roscore

2. 遙控器連線

cd PX4-Autopilot/
./Tools/jmavsim_run.sh -q -d /dev/ttyUSB0 -b 921600 -r 250

3. open QGround

./QGroundControl.AppImage 

or double click

mavros §

roslaunch mavros px4.launch fcu_url:=/dev/ttyUSB0:921600

打開gazebo §

1. 記得source setup_gazebo.bash
   • 網路上的setup_gazebo.bash是放在Tools/simulation/gazebo裡面
   • 但我的是放在Tools裡

source PX4-Autopilot/Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default

cd ~/PX4-Autopilot/
make px4_sitl gazebo 

make 噴錯 §

1. Case 1

[0/4] Performing build step for 'sitl_gazebo'
ninja: error: '/usr/lib/x86_64-linux-gnu/libsdformat9.so.9.8.0', needed by 'libmav_msgs.so', missing and no known rule to make it
FAILED: external/Stamp/sitl_gazebo/sitl_gazebo-build 
cd /home/alfonso/PX4-Autopilot/build/px4_sitl_default/build_gazebo && /usr/bin/cmake --build /home/alfonso/PX4-Autopilot/build/px4_sitl_default/build_gazebo -- -j 6
ninja: build stopped: subcommand failed.
make: *** [Makefile:233: px4_sitl] Error 1

2. try

make clean