这里存放模拟器环境需要的机型模型和环境地图.
可以按需组合.
由于PX4 1.8.0直接用catkin build编译会有问题,需要补丁.请做如下手动更改.
Download PX4 Firmware and checkout to branch "v1.8.0".
At Firmware/CMakeLists.txt, patch:
@@ -185,6 +185,11 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
+if (CATKIN_DEVEL_PREFIX)
+ SET(BUILD_SHARED_LIBS OFF)
+endif()
To avoid ecl compilation error.
来避免ecl编译错误.
要开始仿真:编辑'script/prepare_simulation.sh', 填入你自己的px4工程路径,并运行这个脚本.
Start simulation:Edit 'script/prepare_simulation.sh' with your own px4 path and run this script.
Copy simulation_with_velodyne_in_gazebo9_ws/src/ to your own px4 workspace and run 'catkin build', to compile lidar module.
Do:
cp -r ${YOUR_GAAS_PATH}/simulator/models/* ${YOUR_PX4_WORKSPACE}/src/Firmware/Tools/sitl_gazebo/models/
cp -r ${YOUR_GAAS_PATH}/simulator/worlds/* ${YOUR_PX4_WORKSPACE}/src/Firmware/Tools/sitl_gazebo/worlds/
cp -r ${YOUR_GAAS_PATH}/simulator/posix-config/* ${YOUR_PX4_WORKSPACE}/src/Firmware/posix-configs/SITL/init/ekf2/
###这三步与GAAS相同.
cp -r ./simulation_with_velodyne_in_gazebo9_ws/src/velodyne_simulator/velodyne_description/ ${YOUR_PX4_WORKSPACE}/src/Firmware/Tools/sitl_gazebo/models/
cp -r ./simulation_with_velodyne_in_gazebo9_ws/src/velodyne_simulator ${YOUR_PX4_WORKSPACE}/src
cp -r ./models/* ${YOUR_PX4_WORKSPACE}/src/Firmware/Tools/sitl_gazebo/models/
cp -r ./ekf_settings/* ${YOUR_PX4_WORKSPACE}/src/Firmware/posix-configs/SITL/init/ekf2/
GPU lidar simulation is default option in GAAS_contrib now, so you have to upgrade gazebo. To enable GPU lidar simulation in gazebo, run:
./upgrade_gazebo.sh
你可以手动运行：
You can also run:
gazebo -v
来查看你的gazebo版本,它应该类似:
manually check gazebo version and you shall see something like:
Gazebo multi-robot simulator, version 9.16.0
如果你看到的仍然是 9.0.0,说明更新失败了.你要手动升级你的gazebo到新版本来支持GPU lidar仿真.
if the version is still 9.0.0, then you have to upgrade your gazebo manually to enable GPU lidar simulation.
cd ${YOUR_PX4_WORKSPACE}/src/Firmware
make clean
make
make posix_sitl_default
make posix_sitl_default gazebo
如果你好奇生成sdf文件的步骤:
To get this sdf, run "xacro src/velodyne_simulator/velodyne_description/urdf/example.urdf.xacro > example.urdf"
and "gz sdf -p example.urdf >example.sdf"
Then manually edit your drone's sdf file and add the elements you need for simulation from example.sdf.
cp -r ./ekf_settings/* ${YOUR_PX4_WORKSPACE}/src/Firmware/posix-configs/SITL/init/ekf2/
and change the launch file params in 'script/prepare_simulation.sh' to utilize drones with stereo cam or lidar.
运行'script/prepare_simulation.sh', 启动激光雷达与双目视觉在旋翼机上仿真.
通过修改脚本中的 DRONE_ITEM 和 WORLD_ITEM, 使用其他的载具模型及地图进行仿真.
By changing "DRONE_ITEM" and "WORLD_ITEM" in the script, start simulation with other vehicles and maps.