etc airsim mavros ros execution - Jeonda/kaldeep GitHub Wiki

roslaunch script λ°›μ€νŽΈμ§€ν•¨ x

β€μ „λ‹€ν˜•[QTWBT - JEON DAHYOUNG] [email protected] μ˜€ν›„ 2:36 (14λΆ„ μ „) λ‚˜μ—κ²Œ

UnrealEngine/Engine/Binaries/Linux/UE4Editor

make posix_sitl_ekf2 none_iris

192.168.0.19 192.168.0.21 airism

make px4_sitl_default gazebo

cd src/Firmware_190 source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd):$(pwd)/Tools/sitl_gazebo roslaunch px4 mavros_posix_sitl.launch fcu_url:="udp://:[email protected]:14557"

roslaunch mavros px4.launch fcu_rul:="udp://:[email protected]:14557" roslaunch px4 multi_uav_mavros_sitl.launch (multi vehicles) roslaunch modudculab_ros ctrl_pos_gazebo.launch fcu_url:="udp://:[email protected]:14557"

cd src/Firmware_copy make posix_sitl_default none roscore

rosrun mavros mavsafety arm rosrun mavros mavsys mode -c OFFBOARD

px4 - firmware_190

git clone https://github.com/PX4/Firmware.git

git submodule update --init --recursive make px4_fmu-v3_default make px4_sitl_default gazebo

HITL cd src/Firmware_190 DONT_RUN=1 make px4_sitl_default gazebo source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default gazebo Tools/sitl_gazebo/worlds/iris.world

could not resolve host : api.ignitionrobotics.org ==> ~/.ignition/fuel/config.yaml ==> https://api.iginitionfuel.org -> https://api.ignitionrobotics.org

cd src/Firmware_190 DONT_RUN=1 make px4_sitl_default gazebo source ~/catkin_ws/devel/setup.bash source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd) export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd):$(pwd)/Tools/sitl_gazebo roslaunch px4 posix_sitl.launch

cd /velodyne_plugin/build export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:/velodyne_plugin/build export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:~/velodyne_plugin/build gazebo --verbose ../velodyne.world

gazebo --verbose worlds/iris_arducopter_runway.world

cd ~/ardupilot/ArduCopter ../Tools/autotest/sim_vehicle.py -f gazebo-iris --console --map

output add 10.0.0.182:14550

mode guided arm throtlle takeoff 10

mode land

-- KOREANAIR R&D Center Flight control Group TEL +82-42-868-6483 Mobile +82-10-5130-5760 Dahyoung Jeon

"Vehicles": { "PX4": { "VehicleType": "PX4Multirotor",

    "SitlIp": "",
    "SitlPort": 14560,
    "UdpIp": "127.0.0.1",
    "UdpPort": 14570,
    "UseSerial": false
}

}

QGroundControl will find your Pixhawk via the UDP proxy port 14550 setup by MavLinkTest above. AirSim will find your Pixhawk via the other UDP server port 14570 also setup by MavLinkTest above. You can also use all the QGroundControl controls for autonomous flying at this point too.

{ "SeeDocsAt": "https://github.com/Microsoft/AirSim/blob/master/docs/settings.md", "SimMode": "Multirotor", "SettingsVersion": 1.2, "Vehicles": { "PX4_1": { "VehicleType": "PX4Multirotor", "UseSerial": false }, "PX4_2": { "VehicleType": "PX4Multirotor", "SerialBaudRate": 115200, "SerialPort": "*", "UseSerial": true, "X": -2, "Y": -2, "Z": 0 } }

}

build.cmd --no-full-poly-car

1.SITL λͺ¨λ“œμ—μ„œ λΉ„ν–‰ - done 2.SITL 2λŒ€ μž„λ¬΄λͺ¨λ‘ λΉ„ν–‰ 3.Airsim 뢈 λ‚΄λŠ”κ±° μΆ”κ°€ 4.카메라 μΆ”κ°€

{ "SeeDocsAt": "https://github.com/Microsoft/AirSim/blob/master/docs/settings.md", "SimMode": "Multirotor", "SettingsVersion": 1.2, "PX4": { "VehicleType": "PX4Multirotor", "LocalHostIp": "127.0.0.1", "LogViewerHostIp": "127.0.0.1", "LogViewerPort": 14388, "Model": "Generic", "OffboardCompID": 1, "OffboardSysID": 134,

    "VehicleCompID": 1,
    "VehicleSysID": 135,

    "SerialBaudRate": 115200,
    "SerialPort": "COM3, 115200",
    "UdpIp": "127.0.0.1",
    "UdpPort": 14560,
    "UseSerial": true
},
"QgcHostIp": "127.0.0.1",
"QgcPort": 14550,
"SimCompID": 42,
"SimSysID": 143

}

{ "SettingsVersion": 1.2, "SimMode": "Multirotor", "Vehicles": { "001": { "VehicleType": "PX4Multirotor", "UseSerial": false }, "002": { "VehicleType": "PX4Multirotor", "UseSerial": false, "LocalHostIp": "192.168.43.66", "SitlIp": "192.168.43.156", "UdpIp": "192.168.43.156", "QgcHostIp": "192.168.43.156", "LogViewerHostIp": "192.168.43.156", "X": -4, "Y": 0, "Z": 0 } } }

{ "SettingsVersion": 1.2, "SimMode": "Multirotor", "DefaultVehicleConfig": "PX4_1", "PX4_1": { "FirmwareName": "PX4", "SitlIP": "127.0.0.1", "SitlPort": 14556, "UdpIp": "127.0.0.1",
"UdpPort": 14560, "UserSerial": false, "DefaultVehicleState" : "Disarmed" }, "PX4_2": { "FirmwareName": "PX4", "SitlIP": "127.0.0.1", "SitlPort": 14557, "UdpIp": "127.0.0.1", "UdpPort": 14562, "UserSerial": false, "DefaultVehicleState": "Disarmed" } }

{ "SettingsVersion": 1.2, "SimMode": "Multirotor", "Vehicles": { "PX4_1": { "VehicleType": "PX4Multirotor", "UserSerial": false, "UdpIp": "127.0.0.1", "UdpPort": 14560, "X": 0, "Y": 0, "Z": 0 }, "PX4_2": { "VehicleType": "PX4Multirotor", "UserSerial": false, "UdpIp": "127.0.0.1", "UdpPort": 14562, "X": 0, "Y": 4, "Z": 0 }

}

}

SITL 버전

{ "SettingsVersion": 1.2, "SimMode": "Multirotor", "Vehicles": { "PX4": { "VehicleType": "PX4Multirotor", "UseSerial": false } } }

{ "FileVersion": 3, "EngineAssociation": "4.18", "Category": "Samples", "Description": "", "Modules": [ { "Name": "landscape2", "Type": "Runtime", "LoadingPhase": "Default", "AdditionalDependencies": [ "AirSim" ] } ], "TargetPlatforms": [ "MacNoEditor", "WindowsNoEditor" ], "Plugins": [ { "Name": "AirSim", "Enabled": true } ], "EpicSampleNameHash": "1226740271"

source ~/.bashrc

make clean source ~/.bashrc

git checkout v1.8.2 git submodule update --init --recursive make posix_sitl_ekf2 none_iris make px4_sitl_default none_iris

https://github.com/microsoft/WSL/issues/3368

ver network problem. .. 1.5.0 https://github.com/microsoft/AirSim/issues/2413