geometry_msgs,添加对ROS官方geometry_msgs消息的依赖,在包的程序中可以使用geometry_msgs/xxx类型的消息; mav_msgs,添加对mav_msgs消息的依赖,包的程序中可以使用mav_msgs/xxx类型的消息,该消息的定义在UAV\src\mav_comm包中定义。 gazebo_msgs添加...
// 依赖的库文件有:mavros、roscpp// 1.头文件需要#include<ros/ros.h>#include<mavros_msgs/State.h>// 2.回调函数,接受状态数据mavros_msgs::State current_state;voidstate_cb(constmavros_msgs::State::ConstPtr& msg){ current_state = *msg; }// 3.订阅话题ros::Subscriber state_sub = nh.subs...
- Port mav_msgs to ros2 humble - Update additional includes. - Update conversions and package deps. - Update package and cmake files. - Port mav_planning_msgs to ros2 humble - Port mav_state_machine_msgs to ros2 humble - Port mav_system_msgs to ros2 humble - Port meta-package mav_...
mavros_msgs::SetMode offb_set_mode; offb_set_mode.request.custom_mode = "OFFBOARD"; mavros_msgs::CommandBool arm_cmd; arm_cmd.request.value = true; ros::Time last_request = ros::Time::now(); while(ros::ok()){ if( current_state.mode != "OFFBOARD" && (ros::Time::now() - l...
消息类型为std_msgs/String,mav_control_interface的当前状态 predicted_state 消息类型为visualization_msgs/Marker,可以在rviz中可视化的预测无人机的位置 reference_trajectory 消息类型为visualization_msgs/Marker,可以在rviz中可视化的无人机参考轨迹 KF...
ros-kinetic-marti-sensor-msgs ros-kinetic-marti-status-msgs ros-kinetic-marti-visualization-msgs ros-kinetic-marvelmind-nav ros-kinetic-master-discovery-fkie ros-kinetic-master-sync-fkie ros-kinetic-mav-comm ros-kinetic-mavlink ros-kinetic-mav-msgs ...
rostopic pub /firefly/command/motor_speed mav_msgs/Actuators '{angular_velocities: [100, 100, 100, 100, 100, 100]}',需要注意的是,这里的angular_velocities的数组和你无人机的旋翼数目对应,在这个例子中为6旋翼的。 create an attitude controller 操纵杆(joystick)无法操作 使用键盘,按照[github网址]...
The controller can interface with DJI platforms through ourmav_dji_ros_interface Published and subscribed topics The linear and nonlinear MPC controllers publish and subscribe to the following topics: Published topics: command/roll_pitch_yawrate_thrustof typemav_msgs/RollPitchYawrateThrust. This is th...
$ rostopic pub /blimp/command/motor_speed mav_msgs/Actuators '{angular_velocities: [100, 100, 0]}' There are certain set of parameters can be included by varying the flags: enable_meshes (it enables the mesh of the blimp), enable_sensors (it enables the sensors), enable_wind_plugin (...
catkin_make --pkg mav_msgs mavros_msgs gazebo_msgs source devel/setup.bash catkin_make -j 4 1. 2. 3. 4. 安装凉亭 选项1:安装凉亭使用Ubuntu的软件包 设置您的计算机从packages.osrfoundation.org接受软件 sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_releas...