Полная настройка SLAM с использованием ROS 2 и ArduPilot SITL в Gazebo Garden на Ubuntu 22.04 LTS
Если видео на английском ,а вы его не знаете , то смотрите через Яндекс браузер. Hope this video is helpful to you. 0:00 Gazebo in VMware 0:37 SSD Ubuntu 3:56 Humble 5:34 Workspace 8:06 Source environment 8:59 Build dependencies 10:10 ArduPilot build environment 11:51 ROS 2 14:49 Install SITL 18:57 Use SITL 21:40 ROS 2 with SITL 22:59 Gazebo Garden 23:59 SITL in Gazebo Garden 29:17 SLAM References: https://docs.ros.org/e... gedit ~/.bashrc source /opt/ros/humble/setup.bash source ~/.bashrc https://docs.ros.org/e... sudo apt update sudo apt install python3-colcon-common-extensions colcon build https://docs.ros.org/e... gedit ~/.bashrc export ROS_DOMAIN_ID=22 export ROS_LOCALHOST_ONLY=1 source ~/.bashrc https://github.com/Ard... gedit ~/.bashrc export PATH=$PATH:~/Micro-XRCE-DDS-Gen/scripts source ~/.bashrc microxrceddsgen -version https://ardupilot.org/... sudo apt-get update sudo apt-get install git sudo apt-get install gitk git-gui sudo apt-get install gcc-arm-none-eabi git clone https://github.com/Ard... cd ardupilot git status ./waf distclean ./waf distclean ./waf configure --board MatekF405-Wing ./waf plane If fail, please try: git submodule init git submodule update ./waf configure --board MatekF405-Wing ./waf clean ./waf distclean ./waf configure --board MatekF405-Wing https://ardupilot.org/... sudo apt update sudo apt install python3-vcstool '﹤' represents 'left angle bracket'. vcs import --recursive ﹤ ros2.repos https://ardupilot.org/... cd ~/ardupilot git pull Tools/environment_install/install-prereqs-ubuntu.sh -y ./waf clean ./waf configure --board sitl ./waf copter -v cd ~/ardupilot/Tools/autotest sudo pip3 install MAVProxy mavproxy.py --version gedit ~/.bashrc export PATH=$PATH:/path/to/mavproxy source ~/.bashrc ./sim_vehicle.py -v ArduCopter -w ./sim_vehicle.py -v ArduCopter --console --map ./sim_vehicle.py -v ArduCopter -L KSFO --console --map https://ardupilot.org/... ./sim_vehicle.py -v ArduPlane -f quadplane --console --map --osd ./sim_vehicle.py -v ArduCopter -f quadcopter --console --map --osd https://ardupilot.org/... https://gazebosim.org/... https://ardupilot.org/... gedit ~/.bashrc export GZ_VERSION=garden source ~/.bashrc gedit ~/.bashrc source ~/ros2_ws/install/setup.sh source ~/.bashrc ros2 topic list ros2 topic echo /imu https://ardupilot.org/... git clone https://github.com/Ard... mode guided arm throttle takeoff 2.5 velocity 1 0 0 velocity 0 -1 0 velocity 0 -1 0 velocity 0 1 0 Thanks for ArduPilot Dev Team: / @ardupilot19
Если видео на английском ,а вы его не знаете , то смотрите через Яндекс браузер. Hope this video is helpful to you. 0:00 Gazebo in VMware 0:37 SSD Ubuntu 3:56 Humble 5:34 Workspace 8:06 Source environment 8:59 Build dependencies 10:10 ArduPilot build environment 11:51 ROS 2 14:49 Install SITL 18:57 Use SITL 21:40 ROS 2 with SITL 22:59 Gazebo Garden 23:59 SITL in Gazebo Garden 29:17 SLAM References: https://docs.ros.org/e... gedit ~/.bashrc source /opt/ros/humble/setup.bash source ~/.bashrc https://docs.ros.org/e... sudo apt update sudo apt install python3-colcon-common-extensions colcon build https://docs.ros.org/e... gedit ~/.bashrc export ROS_DOMAIN_ID=22 export ROS_LOCALHOST_ONLY=1 source ~/.bashrc https://github.com/Ard... gedit ~/.bashrc export PATH=$PATH:~/Micro-XRCE-DDS-Gen/scripts source ~/.bashrc microxrceddsgen -version https://ardupilot.org/... sudo apt-get update sudo apt-get install git sudo apt-get install gitk git-gui sudo apt-get install gcc-arm-none-eabi git clone https://github.com/Ard... cd ardupilot git status ./waf distclean ./waf distclean ./waf configure --board MatekF405-Wing ./waf plane If fail, please try: git submodule init git submodule update ./waf configure --board MatekF405-Wing ./waf clean ./waf distclean ./waf configure --board MatekF405-Wing https://ardupilot.org/... sudo apt update sudo apt install python3-vcstool '﹤' represents 'left angle bracket'. vcs import --recursive ﹤ ros2.repos https://ardupilot.org/... cd ~/ardupilot git pull Tools/environment_install/install-prereqs-ubuntu.sh -y ./waf clean ./waf configure --board sitl ./waf copter -v cd ~/ardupilot/Tools/autotest sudo pip3 install MAVProxy mavproxy.py --version gedit ~/.bashrc export PATH=$PATH:/path/to/mavproxy source ~/.bashrc ./sim_vehicle.py -v ArduCopter -w ./sim_vehicle.py -v ArduCopter --console --map ./sim_vehicle.py -v ArduCopter -L KSFO --console --map https://ardupilot.org/... ./sim_vehicle.py -v ArduPlane -f quadplane --console --map --osd ./sim_vehicle.py -v ArduCopter -f quadcopter --console --map --osd https://ardupilot.org/... https://gazebosim.org/... https://ardupilot.org/... gedit ~/.bashrc export GZ_VERSION=garden source ~/.bashrc gedit ~/.bashrc source ~/ros2_ws/install/setup.sh source ~/.bashrc ros2 topic list ros2 topic echo /imu https://ardupilot.org/... git clone https://github.com/Ard... mode guided arm throttle takeoff 2.5 velocity 1 0 0 velocity 0 -1 0 velocity 0 -1 0 velocity 0 1 0 Thanks for ArduPilot Dev Team: / @ardupilot19