无人机部署

sudo apt install ros-noetic-mavros ros-noetic-mavros-extras ninja-build exiftool ninja-build protobuf-compiler libeigen3-dev genromfs xmlstarlet libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev python-pip python3-pip gawk

#pip2 install pandas jinja2 pyserial cerberus pyulog==0.7.0 numpy toml pyquaternion empy pyyaml 
pip3 install packaging numpy empy toml pyyaml jinja2 pyargparse kconfiglib jsonschema future

5.安装MAVROS

#sudo apt install ros-noetic-mavros ros-noetic-mavros-extras 		# for ros-melodic
wget https://gitee.com/robin_shaun/XTDrone/raw/master/sitl_config/mavros/install_geographiclib_datasets.sh

sudo chmod a+x ./install_geographiclib_datasets.sh
sudo ./install_geographiclib_datasets.sh #这步需要装一段时间

或者下载后放到 /usr/share/GeographicLib 下面
通过百度网盘分享的文件：geographic-lib.rar
链接：https://pan.baidu.com/s/1Ydq0cyKK7nu2Orbv8Iw3tA 
提取码：1234 

PX4配置

git clone https://github.com/PX4/PX4-Autopilot.git
mv PX4-Autopilot PX4_Firmware
cd PX4_Firmware
git checkout -b xtdrone/dev v1.13.2
git submodule update --init --recursive
make px4_sitl_default gazebo

增加环境变量

source ~/PX4_Firmware/Tools/setup_gazebo.bash ~/PX4_Firmware/ ~/PX4_Firmware/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4_Firmware
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4_Firmware/Tools/sitl_gazebo

测试

cd ~/PX4_Firmware
roslaunch px4 mavros_posix_sitl.launch
#检查与mavros通信
rostopic echo /mavros/state

XTDrone源码下载

git clone https://gitee.com/robin_shaun/XTDrone.git
cd XTDrone
git checkout 1_13_2
git submodule update --init --recursive
# 修改启动脚本文件
cp sitl_config/init.d-posix/* ~/PX4_Firmware/ROMFS/px4fmu_common/init.d-posix/
# 添加launch文件
cp -r sitl_config/launch/* ~/PX4_Firmware/launch/
# 添加世界文件
cp sitl_config/worlds/* ~/PX4_Firmware/Tools/sitl_gazebo/worlds/
# 修改部分插件
cp sitl_config/gazebo_plugin/gimbal_controller/gazebo_gimbal_controller_plugin.cpp ~/PX4_Firmware/Tools/sitl_gazebo/src
cp sitl_config/gazebo_plugin/gimbal_controller/gazebo_gimbal_controller_plugin.hh ~/PX4_Firmware/Tools/sitl_gazebo/include
cp sitl_config/gazebo_plugin/wind_plugin/gazebo_ros_wind_plugin_xtdrone.cpp ~/PX4_Firmware/Tools/sitl_gazebo/src
cp sitl_config/gazebo_plugin/wind_plugin/gazebo_ros_wind_plugin_xtdrone.h ~/PX4_Firmware/Tools/sitl_gazebo/include

# 修改CMakeLists.txt
cp sitl_config/CMakeLists.txt ~/PX4_Firmware/Tools/sitl_gazebo
# 修改部分模型文件
cp -r sitl_config/models/* ~/PX4_Firmware/Tools/sitl_gazebo/models/ 
# 替换同名文件
cd ~/.gazebo/models/
rm -r stereo_camera/ 3d_lidar/ 3d_gpu_lidar/ hokuyo_lidar/

cp sitl_config/init.d-posix/* ~/PX4_Firmware/ROMFS/px4fmu_common/init.d-posix/
cp -r sitl_config/launch/* ~/PX4_Firmware/launch/
cp sitl_config/worlds/* ~/PX4_Firmware/Tools/sitl_gazebo/worlds/
cp sitl_config/gazebo_plugin/gimbal_controller/gazebo_gimbal_controller_plugin.cpp ~/PX4_Firmware/Tools/sitl_gazebo/src
cp sitl_config/gazebo_plugin/gimbal_controller/gazebo_gimbal_controller_plugin.hh ~/PX4_Firmware/Tools/sitl_gazebo/include
cp sitl_config/gazebo_plugin/wind_plugin/gazebo_ros_wind_plugin_xtdrone.cpp ~/PX4_Firmware/Tools/sitl_gazebo/src
cp sitl_config/gazebo_plugin/wind_plugin/gazebo_ros_wind_plugin_xtdrone.h ~/PX4_Firmware/Tools/sitl_gazebo/include

cp sitl_config/CMakeLists.txt ~/PX4_Firmware/Tools/sitl_gazebo
cp -r sitl_config/models/* ~/PX4_Firmware/Tools/sitl_gazebo/models/ 
cd ~/.gazebo/models/
rm -r stereo_camera/ 3d_lidar/ 3d_gpu_lidar/ hokuyo_lidar/

 

再次编译

cd ~/PX4_Firmware
make px4_sitl_default gazebo

用键盘控制无人机

#terminal1
cd ~/PX4_Firmware
roslaunch px4 indoor1.launch
#terminal2
cd ~/XTDrone/communication/
python multirotor_communication.py iris 0
#terminal3
cd /home/slam/XTDrone/control/keyboard
python3 multirotor_keyboard_control.py  iris  1 vel

Eigen:
sudo cp -rf /usr/local/include/eigen3/Eigen/ /usr/local/include/