学生做家教网站,网站编辑器判断,文创产品设计说明模板,wordpress通知插件APMROS解锁后不起飞 : 参考链接
PX4固件官网提供的代码不支持APM固件使用#xff0c;需要进行相关修改后使用
解决办法
使用如下代码发布无人机位置控制时#xff0c;必须先执行无人机起飞动作时候#xff0c;这条命令才会生效。
ros::Publisher local_pos_pub nh.adve…APMROS解锁后不起飞 : 参考链接
PX4固件官网提供的代码不支持APM固件使用需要进行相关修改后使用
解决办法
使用如下代码发布无人机位置控制时必须先执行无人机起飞动作时候这条命令才会生效。
ros::Publisher local_pos_pub nh.advertisegeometry_msgs::PoseStamped(mavros/setpoint_position/local, 10);所以将代码进行修改并且增加无人机更复杂的动作最终修改的代码如下
#include ros/ros.h
#include geometry_msgs/PoseStamped.h
#include geometry_msgs/Twist.h
#include mavros_msgs/CommandBool.h
#include mavros_msgs/CommandTOL.h
#include mavros_msgs/SetMode.h
#include mavros_msgs/State.hmavros_msgs::State current_state;// 无人机状态回调函数
void state_callback(const mavros_msgs::State::ConstPtr msg) {current_state *msg;
}int main(int argc, char **argv) {ros::init(argc, argv, offboard);ros::NodeHandle n;ros::Subscriber state_sub n.subscribe(/mavros/state, 10, state_callback);ros::Rate rate(20);ROS_INFO(Initializing...);while (ros::ok() !current_state.connected) {ros::spinOnce();rate.sleep();}ROS_INFO(Connected.);// 设置无人机模式为GUIDEDros::ServiceClient cl n.serviceClientmavros_msgs::SetMode(/mavros/set_mode);mavros_msgs::SetMode srv_setMode;srv_setMode.request.base_mode 0;srv_setMode.request.custom_mode GUIDED;if (cl.call(srv_setMode)) {ROS_INFO(setmode send ok %d value:, srv_setMode.response.mode_sent);} else {ROS_ERROR(Failed SetMode);return -1;}// 解锁无人机ros::ServiceClient arming_cl n.serviceClientmavros_msgs::CommandBool(/mavros/cmd/arming);mavros_msgs::CommandBool srv;srv.request.value true;if (arming_cl.call(srv)) {ROS_INFO(ARM send ok %d, srv.response.success);} else {ROS_ERROR(Failed arming or disarming);}// 发布起飞的指令向上飞行10米ros::ServiceClient takeoff_cl n.serviceClientmavros_msgs::CommandTOL(/mavros/cmd/takeoff);mavros_msgs::CommandTOL srv_takeoff;srv_takeoff.request.altitude 10;srv_takeoff.request.latitude 0;srv_takeoff.request.longitude 0;srv_takeoff.request.min_pitch 0;srv_takeoff.request.yaw 0;if (takeoff_cl.call(srv_takeoff)) {ROS_INFO(srv_takeoff send ok %d, srv_takeoff.response.success);} else {ROS_ERROR(Failed Takeoff);}// 等待10秒. 这一行代码非常重要如果没有则不能飞行sleep(10);geometry_msgs::PoseStamped pose;pose.header.frame_id map;pose.pose.position.x 0;pose.pose.position.y 0;pose.pose.position.z 2;geometry_msgs::Twist vel;vel.linear.x 0.0;vel.linear.y 0.0;vel.linear.z 0.0;vel.angular.x 0.0;vel.angular.y 0.0;vel.angular.z 0.0;ros::Publisher local_vel_pub n.advertisegeometry_msgs::Twist(mavros/setpoint_velocity/cmd_vel_unstamped, 10);ros::Publisher local_pos_pub n.advertisegeometry_msgs::PoseStamped(mavros/setpoint_position/local, 10);ros::Time time_start ros::Time::now();//转圈圈飞行while (ros::ok()) {pose.pose.position.x sin(2.0 * M_PI * 2.0 * (ros::Time::now() - time_start).toSec());pose.pose.position.y cos(2.0 * M_PI * 2.0 * (ros::Time::now() - time_start).toSec());vel.linear.x 2.0 * M_PI * 2.0 * cos(2.0 * M_PI * 0.1 * (ros::Time::now() - time_start).toSec());vel.linear.y -2.0 * M_PI * 2.0 * sin(2.0 * M_PI * 0.1 * (ros::Time::now() - time_start).toSec());local_pos_pub.publish(pose);local_vel_pub.publish(vel);ros::spinOnce();rate.sleep();}return 0;
}
