未完成mavros安装及相关设置的参考上一篇文章
Ardupilot之Mavros实现Ros节点控制(一)
这一部分写ros相关节点的设置
首先要建立一个工作空间,具体看前面文章
Ros机器人之(三)创建工作空间和功能包
src中新建文件夹offboard
offboard建立
cd src/
catkin_create_pkg offboard roscpp mavros geometry_msgs
cd ..
catkin_make
source devel/setup.bash
offboard/src新建offboard.cpp,代码参考官网。
修改两个地方:
一是 offb_set_mode.response.mode_sent
二是 ardupilot中没有offboard模式,修改成GUIDED模式
最终效果是,能连接,能解锁,但是不能起飞。
我理解应该是poses位置节点发布与ardupilot的问题。网上毫无参考。求看到的大佬告知一二。
#include <ros/ros.h>
#include <geometry_msgs/PoseStamped.h>
#include <mavros_msgs/CommandBool.h>
#include <mavros_msgs/SetMode.h>
#include <mavros_msgs/State.h>
mavros_msgs::State current_state;
void state_cb(const mavros_msgs::State::ConstPtr& msg){
current_state = *msg;
}
int main(int argc, char **argv)
{
ROS_INFO("HELLO");
ros::init(argc, argv, "offb_node");
ros::NodeHandle nh;
ros::Subscriber state_sub = nh.subscribe<mavros_msgs::State>
("mavros/state", 10, state_cb);
ros::Publisher local_pos_pub = nh.advertise<geometry_msgs::PoseStamped>
("mavros/setpoint_position/local", 10);
ros::ServiceClient arming_client = nh.serviceClient<mavros_msgs::CommandBool>
("mavros/cmd/arming");
ros::ServiceClient set_mode_client = nh.serviceClient<mavros_msgs::SetMode>
("mavros/set_mode");
//the setpoint publishing rate MUST be faster than 2Hz
ros::Rate rate(20.0);
// wait for FCU connection
while(ros::ok() && current_state.connected){
ros::spinOnce();
rate.sleep();
}
geometry_msgs::PoseStamped pose;
pose.pose.position.x = 0;
pose.pose.position.y = 0;
pose.pose.position.z = 2;
//send a few setpoints before starting
for(int i = 100; ros::ok() && i > 0; --i){
local_pos_pub.publish(pose);
ros::spinOnce();
rate.sleep();
}
mavros_msgs::SetMode offb_set_mode;
offb_set_mode.request.custom_mode = "GUIDED";
mavros_msgs::CommandBool arm_cmd;
arm_cmd.request.value = true;
ros::Time last_request = ros::Time::now();
while(ros::ok()){
if( current_state.mode != "GUIDED" &&
(ros::Time::now() - last_request > ros::Duration(5.0))){
if( set_mode_client.call(offb_set_mode) &&
offb_set_mode.response.mode_sent){
ROS_INFO("Offboard enabled");
}
last_request = ros::Time::now();
}
else {
if( !current_state.armed &&
(ros::Time::now() - last_request > ros::Duration(5.0))){
if( arming_client.call(arm_cmd) &&
arm_cmd.response.success){
ROS_INFO("Vehicle armed");
}
last_request = ros::Time::now();
}
}
local_pos_pub.publish(pose);
ros::spinOnce();
rate.sleep();
}
return 0;
}
修改cmakelist中内容:
add_executable(${PROJECT_NAME} src/offboard.cpp)
target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
)
然后编译一下:
cd catkin/
catkin_make
source devel/setup.bash
仿真运行
一个终端:
sim_vehicle.py -v ArduCopter -f gazebo-iris -m --mav10 --map --console -I0
二个终端:
gazebo --verbose worlds/iris_arducopter_runway.world
三个终端:
roslaunch apm.launch
四个终端:
rosrun offboard offboard
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