无人机仿真XTDrone学习五：XTDrone键盘控制无人机indoor1.launch程序分析二

无人机仿真XTDrone学习五：XTDrone键盘控制无人机indoor1.launch程序分析二

launch程序如下

这个文件启动了Gazebo仿真环境，配置MAVROS功能包和PX4 SITL功能包。

<?xml version="1.0"?>
<launch><!-- MAVROS posix SITL environment launch script --><!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle --><!-- vehicle model and world --><arg name="est" default="ekf2"/><arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/indoor1.world"/><!-- gazebo configs --><arg name="gui" default="true"/><arg name="debug" default="false"/><arg name="verbose" default="false"/><arg name="paused" default="false"/><!-- Gazebo sim --><include file="$(find gazebo_ros)/launch/empty_world.launch"><arg name="gui" value="$(arg gui)"/><arg name="world_name" value="$(arg world)"/><arg name="debug" value="$(arg debug)"/><arg name="verbose" value="$(arg verbose)"/><arg name="paused" value="$(arg paused)"/></include><!-- iris_0 --><group ns="iris_0"><!-- MAVROS and vehicle configs --><arg name="ID" value="0"/><arg name="ID_in_group" value="0"/><arg name="fcu_url" default="udp://:24540@localhost:34580"/><!-- PX4 SITL and vehicle spawn --><include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch"><arg name="x" value="0"/><arg name="y" default="7.5"/><arg name="z" default="1"/><arg name="R" value="0"/><arg name="P" value="0"/><arg name="Y" value="0"/><arg name="vehicle" value="iris"/><arg name="sdf" value="iris_stereo_camera"/><arg name="mavlink_udp_port" value="18570"/><arg name="mavlink_tcp_port" value="4560"/><arg name="ID" value="$(arg ID)"/><arg name="ID_in_group" value="$(arg ID_in_group)"/></include><!-- MAVROS --><include file="$(find mavros)/launch/px4.launch"><arg name="fcu_url" value="$(arg fcu_url)"/><arg name="gcs_url" value=""/><arg name="tgt_system" value="$(eval 1 + arg('ID'))"/><arg name="tgt_component" value="1"/></include></group>
</launch>
<!--the launch file is generated by XTDrone multi-vehicle generator.py  -->

配置并启动Gazebo仿真环境

程序中添加了注释，不要复制运行此处代码。

<!-- vehicle model and world --><arg name="est" default="ekf2"/><arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/indoor1.world"/>可在此处修改仿真环境地图<!-- gazebo configs --><arg name="gui" default="true"/>定义变量<arg name="debug" default="false"/><arg name="verbose" default="false"/><arg name="paused" default="false"/><!-- Gazebo sim --><include file="$(find gazebo_ros)/launch/empty_world.launch">嵌套的另一个launch文件，打开为一个空地图仿真环境<arg name="gui" value="$(arg gui)"/>这里是对configs已经定义的变量进行调用<arg name="world_name" value="$(arg world)"/><arg name="debug" value="$(arg debug)"/><arg name="verbose" value="$(arg verbose)"/><arg name="paused" value="$(arg paused)"/></include>

无人机模型配置和启动PX4 SITL

<!-- iris_0 --><group ns="iris_0"><!-- MAVROS and vehicle configs --><arg name="ID" value="0"/><arg name="ID_in_group" value="0"/><arg name="fcu_url" default="udp://:24540@localhost:34580"/><!-- PX4 SITL and vehicle spawn --><include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">嵌入的launch文件启动	PX4 SITL<arg name="x" value="0"/><arg name="y" default="7.5"/><arg name="z" default="1"/><arg name="R" value="0"/>roll<arg name="P" value="0"/>pitch<arg name="Y" value="0"/>yaw<arg name="vehicle" value="iris"/><arg name="sdf" value="iris_stereo_camera"/>无人机模型在此修改<arg name="mavlink_udp_port" value="18570"/><arg name="mavlink_tcp_port" value="4560"/><arg name="ID" value="$(arg ID)"/><arg name="ID_in_group" value="$(arg ID_in_group)"/></include>

配置MAVROS功能包

<!-- MAVROS -->基本不需要修改<include file="$(find mavros)/launch/px4.launch"><arg name="fcu_url" value="$(arg fcu_url)"/><arg name="gcs_url" value=""/><arg name="tgt_system" value="$(eval 1 + arg('ID'))"/><arg name="tgt_component" value="1"/></include>