源码编译 MAVROS

1. 下载源码

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/mavlink/mavros.git
git clone --recurse-submodules -b  release/noetic/mavlink  https://github.com/mavlink/mavlink-gbp-release.git
cd mavros
git checkout -b 1.13.0 1.13.0

2. 编译

cd ~/catkin_ws
catkin build

问题1:
ModuleNotFoundError: No module named ‘future’

上述问题是mavlink-gbp-release没有设置好pyhton3,所以找不到futue model。下面强制一下用python3就好了

[xzeng@mypassportssd mavlink-gbp-release]$ git diff
diff --git a/CMakeLists.txt b/CMakeLists.txt
index bd600b66..ac12cc2f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -24,7 +24,7 @@ else()
     set(Py_VERSION "2")
 endif()
 
-if (NOT CMAKE_VERSION VERSION_LESS "3.12")
+if (CMAKE_VERSION VERSION_LESS "3.12")
     find_package(Python${Py_VERSION} COMPONENTS Interpreter)
     set(Python_EXECUTABLE "${Python${Py_VERSION}_EXECUTABLE}")
 else()

问题2:
CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by “geographic_msgs”
with any of the following names:

geographic_msgsConfig.cmake
geographic_msgs-config.cmake

安装这个就解决

sudo dnf install ros-geographic_msgs-devel.noarch GeographicLib-devel.x86_64 libatomic.x86_64

3. 测试 mavros

roslaunch mavros px4.launch fcu_url:="udp://:14540@127.0.0.1:14557"

问题3:
[FATAL] [1649428325.309719934]: UAS: GeographicLib exception: File not readable /usr/share/GeographicLib/geoids/egm96-5.pgm | Run install_geographiclib_dataset.sh script in order to install Geoid Model dataset!

解决办法:

cd  src/mavros/scripts
sudo ./install_geographiclib_datasets.sh
ll /usr/share/GeographicLib/geoids   里面应该就有dataset了

问题4:
WARN [mavlink] [timesync] RTT too high for timesync

解决办法:

修改: mavros/launch/px4_config.yaml

将第12行改为

timesync_rate: 0.0

问题5:
INFO [commander] Failsafe mode activated

解决办法:
Running param set COM_RCL_EXCEPT 4

运行:

cd /home/xzeng/catkin_ws/XTDrone/PX4-Autopilot
DONT_RUN=1 make px4_sitl_default gazebo
source /home/xzeng/catkin_ws/devel/setup.bash
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
roslaunch px4 posix_sitl.launch 
   或
roslaunch  px4 mavros_posix_sitl.launch

输出:

[xzeng@mypassportssd PX4-Autopilot]$ roslaunch  px4 mavros_posix_sitl.launch
... logging to /home/xzeng/.ros/log/e8867156-ea18-11ec-809c-b42e9931130e/roslaunch-mypassportssd-99160.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://mypassportssd:36479/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /mavros/camera/frame_id: base_link
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_rate: 1.0
 * /mavros/conn/system_time_rate: 1.0
 * /mavros/conn/timeout: 10.0
 * /mavros/conn/timesync_rate: 10.0
 * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
 * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/laser_1_sub/id: 3
 * /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/laser_1_sub/subscriber: True
 * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /mavros/distance_sensor/lidarlite_pub/id: 1
 * /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
 * /mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/sonar_1_sub/horizontal_fov_ratio: 1.0
 * /mavros/distance_sensor/sonar_1_sub/id: 2
 * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /mavros/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
 * /mavros/fake_gps/eph: 2.0
 * /mavros/fake_gps/epv: 2.0
 * /mavros/fake_gps/fix_type: 3
 * /mavros/fake_gps/geo_origin/alt: 408.0
 * /mavros/fake_gps/geo_origin/lat: 47.3667
 * /mavros/fake_gps/geo_origin/lon: 8.55
 * /mavros/fake_gps/gps_rate: 5.0
 * /mavros/fake_gps/mocap_transform: True
 * /mavros/fake_gps/satellites_visible: 5
 * /mavros/fake_gps/tf/child_frame_id: fix
 * /mavros/fake_gps/tf/frame_id: map
 * /mavros/fake_gps/tf/listen: False
 * /mavros/fake_gps/tf/rate_limit: 10.0
 * /mavros/fake_gps/tf/send: False
 * /mavros/fake_gps/use_mocap: True
 * /mavros/fake_gps/use_vision: False
 * /mavros/fcu_protocol: v2.0
 * /mavros/fcu_url: udp://:14540@loca...
 * /mavros/gcs_url: 
 * /mavros/global_position/child_frame_id: base_link
 * /mavros/global_position/frame_id: map
 * /mavros/global_position/gps_uere: 1.0
 * /mavros/global_position/rot_covariance: 99999.0
 * /mavros/global_position/tf/child_frame_id: base_link
 * /mavros/global_position/tf/frame_id: map
 * /mavros/global_position/tf/global_frame_id: earth
 * /mavros/global_position/tf/send: False
 * /mavros/global_position/use_relative_alt: True
 * /mavros/image/frame_id: px4flow
 * /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
 * /mavros/imu/frame_id: base_link
 * /mavros/imu/linear_acceleration_stdev: 0.0003
 * /mavros/imu/magnetic_stdev: 0.0
 * /mavros/imu/orientation_stdev: 1.0
 * /mavros/landing_target/camera/fov_x: 2.0071286398
 * /mavros/landing_target/camera/fov_y: 2.0071286398
 * /mavros/landing_target/image/height: 480
 * /mavros/landing_target/image/width: 640
 * /mavros/landing_target/land_target_type: VISION_FIDUCIAL
 * /mavros/landing_target/listen_lt: False
 * /mavros/landing_target/mav_frame: LOCAL_NED
 * /mavros/landing_target/target_size/x: 0.3
 * /mavros/landing_target/target_size/y: 0.3
 * /mavros/landing_target/tf/child_frame_id: camera_center
 * /mavros/landing_target/tf/frame_id: landing_target
 * /mavros/landing_target/tf/listen: False
 * /mavros/landing_target/tf/rate_limit: 10.0
 * /mavros/landing_target/tf/send: True
 * /mavros/local_position/frame_id: map
 * /mavros/local_position/tf/child_frame_id: base_link
 * /mavros/local_position/tf/frame_id: map
 * /mavros/local_position/tf/send: False
 * /mavros/local_position/tf/send_fcu: False
 * /mavros/mission/pull_after_gcs: True
 * /mavros/mission/use_mission_item_int: True
 * /mavros/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/odometry/fcu/odom_child_id_des: base_link
 * /mavros/odometry/fcu/odom_parent_id_des: map
 * /mavros/plugin_blacklist: ['safety_area', '...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.118682
 * /mavros/px4flow/ranger_max_range: 5.0
 * /mavros/px4flow/ranger_min_range: 0.3
 * /mavros/safety_area/p1/x: 1.0
 * /mavros/safety_area/p1/y: 1.0
 * /mavros/safety_area/p1/z: 1.0
 * /mavros/safety_area/p2/x: -1.0
 * /mavros/safety_area/p2/y: -1.0
 * /mavros/safety_area/p2/z: -1.0
 * /mavros/setpoint_accel/send_force: False
 * /mavros/setpoint_attitude/reverse_thrust: False
 * /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /mavros/setpoint_attitude/tf/frame_id: map
 * /mavros/setpoint_attitude/tf/listen: False
 * /mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /mavros/setpoint_attitude/use_quaternion: False
 * /mavros/setpoint_position/mav_frame: LOCAL_NED
 * /mavros/setpoint_position/tf/child_frame_id: target_position
 * /mavros/setpoint_position/tf/frame_id: map
 * /mavros/setpoint_position/tf/listen: False
 * /mavros/setpoint_position/tf/rate_limit: 50.0
 * /mavros/setpoint_raw/thrust_scaling: 1.0
 * /mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /mavros/startup_px4_usb_quirk: True
 * /mavros/sys/disable_diag: False
 * /mavros/sys/min_voltage: 10.0
 * /mavros/target_component_id: 1
 * /mavros/target_system_id: 1
 * /mavros/tdr_radio/low_rssi: 40
 * /mavros/time/time_ref_source: fcu
 * /mavros/time/timesync_avg_alpha: 0.6
 * /mavros/time/timesync_mode: MAVLINK
 * /mavros/vibration/frame_id: base_link
 * /mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /mavros/vision_pose/tf/frame_id: odom
 * /mavros/vision_pose/tf/listen: False
 * /mavros/vision_pose/tf/rate_limit: 10.0
 * /mavros/vision_speed/listen_twist: True
 * /mavros/vision_speed/twist_cov: True
 * /mavros/wheel_odometry/child_frame_id: base_link
 * /mavros/wheel_odometry/count: 2
 * /mavros/wheel_odometry/frame_id: odom
 * /mavros/wheel_odometry/send_raw: True
 * /mavros/wheel_odometry/send_twist: False
 * /mavros/wheel_odometry/tf/child_frame_id: base_link
 * /mavros/wheel_odometry/tf/frame_id: odom
 * /mavros/wheel_odometry/tf/send: False
 * /mavros/wheel_odometry/use_rpm: False
 * /mavros/wheel_odometry/vel_error: 0.1
 * /mavros/wheel_odometry/wheel0/radius: 0.05
 * /mavros/wheel_odometry/wheel0/x: 0.0
 * /mavros/wheel_odometry/wheel0/y: -0.15
 * /mavros/wheel_odometry/wheel1/radius: 0.05
 * /mavros/wheel_odometry/wheel1/x: 0.0
 * /mavros/wheel_odometry/wheel1/y: 0.15
 * /rosdistro: noetic
 * /rosversion: 1.15.14
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    mavros (mavros/mavros_node)
    sitl (px4/px4)
    vehicle_spawn_mypassportssd_99160_591514576132341079 (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [99167]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to e8867156-ea18-11ec-809c-b42e9931130e
process[rosout-1]: started with pid [99176]
started core service [/rosout]
process[sitl-2]: started with pid [99184]
Creating symlink /home/xzeng/catkin_ws/XTDrone/PX4-Autopilot/build/px4_sitl_default/etc -> /home/xzeng/.ros/etc

______  __   __    ___ 
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
process[gazebo-3]: started with pid [99195]
INFO  [init] found model autostart file as SYS_AUTOSTART=10016
process[gazebo_gui-4]: started with pid [99203]
INFO  [param] selected parameter default file eeprom/parameters_10016
INFO  [parameters] BSON document size 744 bytes, decoded 744 bytes (INT32:21, FLOAT:15)
[param] Loaded: eeprom/parameters_10016
process[vehicle_spawn_mypassportssd_99160_591514576132341079-5]: started with pid [99212]
process[mavros-6]: started with pid [99219]
INFO  [dataman] data manager file './dataman' size is 7866640 bytes
PX4 SIM HOST: localhost
[ INFO] [1655015324.932987729]: FCU URL: udp://:14540@localhost:14557
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4560
[ INFO] [1655015324.934777995]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1655015324.934874026]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1655015324.935056407]: GCS bridge disabled
[ INFO] [1655015324.942845411]: Plugin 3dr_radio loaded
[ INFO] [1655015324.944033177]: Plugin 3dr_radio initialized
[ INFO] [1655015324.944103927]: Plugin actuator_control loaded
[ INFO] [1655015324.945978492]: Plugin actuator_control initialized
[ INFO] [1655015324.949980722]: Plugin adsb loaded
[ INFO] [1655015324.952046124]: Plugin adsb initialized
[ INFO] [1655015324.952171967]: Plugin altitude loaded
[ INFO] [1655015324.952810774]: Plugin altitude initialized
[ INFO] [1655015324.952883856]: Plugin cam_imu_sync loaded
[ INFO] [1655015324.953263144]: Plugin cam_imu_sync initialized
[ INFO] [1655015324.953338871]: Plugin camera loaded
[ INFO] [1655015324.953686245]: Plugin camera initialized
[ INFO] [1655015324.953774430]: Plugin command loaded
[ INFO] [1655015324.958227899]: Plugin command initialized
[ INFO] [1655015324.958364623]: Plugin companion_process_status loaded
[ INFO] [1655015324.959860911]: Plugin companion_process_status initialized
[ INFO] [1655015324.959942557]: Plugin debug_value loaded
[ INFO] [1655015324.962826853]: Plugin debug_value initialized
[ INFO] [1655015324.962848781]: Plugin distance_sensor blacklisted
[ INFO] [1655015324.962941237]: Plugin esc_status loaded
[ INFO] [1655015324.963989716]: Plugin esc_status initialized
[ INFO] [1655015324.964069328]: Plugin esc_telemetry loaded
[ INFO] [1655015324.964532362]: Plugin esc_telemetry initialized
[ INFO] [1655015324.964624530]: Plugin fake_gps loaded
[ INFO] [1655015324.972408563]: Plugin fake_gps initialized
[ INFO] [1655015324.972561825]: Plugin ftp loaded
[ INFO] [1655015324.976818236]: Plugin ftp initialized
[ INFO] [1655015324.976931134]: Plugin geofence loaded
[ INFO] [1655015324.979124306]: Plugin geofence initialized
[ INFO] [1655015324.979214937]: Plugin global_position loaded
[ INFO] [1655015324.987076889]: Plugin global_position initialized
[ INFO] [1655015324.987174719]: Plugin gps_input loaded
[ INFO] [1655015324.988446372]: Plugin gps_input initialized
[ INFO] [1655015324.988516009]: Plugin gps_rtk loaded
[ INFO] [1655015324.989963684]: Plugin gps_rtk initialized
[ INFO] [1655015324.990031193]: Plugin gps_status loaded
[ INFO] [1655015324.991220972]: Plugin gps_status initialized
[ INFO] [1655015324.991300962]: Plugin hil loaded
[ INFO] [1655015324.997448844]: Plugin hil initialized
[ INFO] [1655015324.997541725]: Plugin home_position loaded
[ INFO] [1655015324.999270337]: Plugin home_position initialized
[ INFO] [1655015324.999393934]: Plugin imu loaded
[ INFO] [1655015325.003059494]: Plugin imu initialized
[ INFO] [1655015325.003145585]: Plugin landing_target loaded
[ INFO] [1655015325.009623899]: Plugin landing_target initialized
[ INFO] [1655015325.009719483]: Plugin local_position loaded
[ INFO] [1655015325.012828909]: Plugin local_position initialized
[ INFO] [1655015325.012904737]: Plugin log_transfer loaded
[ INFO] [1655015325.014758394]: Plugin log_transfer initialized
[ INFO] [1655015325.014832170]: Plugin mag_calibration_status loaded
[ INFO] [1655015325.015440281]: Plugin mag_calibration_status initialized
[ INFO] [1655015325.015518165]: Plugin manual_control loaded
[ INFO] [1655015325.016941699]: Plugin manual_control initialized
[ INFO] [1655015325.017015542]: Plugin mocap_pose_estimate loaded
[ INFO] [1655015325.018720187]: Plugin mocap_pose_estimate initialized
[ INFO] [1655015325.018791095]: Plugin mount_control loaded
[ INFO] [1655015325.020813607]: Plugin mount_control initialized
[ INFO] [1655015325.020895005]: Plugin nav_controller_output loaded
[ INFO] [1655015325.021227169]: Plugin nav_controller_output initialized
[ INFO] [1655015325.021295093]: Plugin obstacle_distance loaded
[ INFO] [1655015325.022588106]: Plugin obstacle_distance initialized
[ INFO] [1655015325.022661032]: Plugin odom loaded
[ INFO] [1655015325.024736414]: Plugin odom initialized
[ INFO] [1655015325.024806851]: Plugin onboard_computer_status loaded
[ INFO] [1655015325.025938589]: Plugin onboard_computer_status initialized
[ INFO] [1655015325.026048077]: Plugin param loaded
[ INFO] [1655015325.027700817]: Plugin param initialized
[ INFO] [1655015325.027772437]: Plugin play_tune loaded
[ INFO] [1655015325.028911829]: Plugin play_tune initialized
[ INFO] [1655015325.028979989]: Plugin px4flow loaded
[ INFO] [1655015325.032171147]: Plugin px4flow initialized
[ INFO] [1655015325.032265001]: Plugin rallypoint loaded
[ INFO] [1655015325.033719619]: Plugin rallypoint initialized
[ INFO] [1655015325.033743284]: Plugin rangefinder blacklisted
[ INFO] [1655015325.033844522]: Plugin rc_io loaded
[ INFO] [1655015325.035596321]: Plugin rc_io initialized
[ INFO] [1655015325.035617915]: Plugin safety_area blacklisted
[ INFO] [1655015325.035690571]: Plugin setpoint_accel loaded
[ INFO] [1655015325.037145515]: Plugin setpoint_accel initialized
[ INFO] [1655015325.037277781]: Plugin setpoint_attitude loaded
[ INFO] [1655015325.042387219]: Plugin setpoint_attitude initialized
[ INFO] [1655015325.042487092]: Plugin setpoint_position loaded
[ INFO] [1655015325.049638882]: Plugin setpoint_position initialized
[ INFO] [1655015325.049741491]: Plugin setpoint_raw loaded
[ INFO] [1655015325.054163542]: Plugin setpoint_raw initialized
[ INFO] [1655015325.054263065]: Plugin setpoint_trajectory loaded
[ INFO] [1655015325.056551928]: Plugin setpoint_trajectory initialized
[ INFO] [1655015325.056638966]: Plugin setpoint_velocity loaded
[ INFO] [1655015325.059292969]: Plugin setpoint_velocity initialized
[ INFO] [1655015325.059459971]: Plugin sys_status loaded
[ INFO] [1655015325.065353452]: Plugin sys_status initialized
[ INFO] [1655015325.065452330]: Plugin sys_time loaded
[ INFO] [1655015325.068506667]: TM: Timesync mode: MAVLINK
[ INFO] [1655015325.068769825]: TM: Not publishing sim time
[ INFO] [1655015325.069364443]: Plugin sys_time initialized
[ INFO] [1655015325.069437752]: Plugin terrain loaded
[ INFO] [1655015325.069855361]: Plugin terrain initialized
[ INFO] [1655015325.069926726]: Plugin trajectory loaded
[ INFO] [1655015325.072835839]: Plugin trajectory initialized
[ INFO] [1655015325.072905746]: Plugin tunnel loaded
[ INFO] [1655015325.074435529]: Plugin tunnel initialized
[ INFO] [1655015325.074514082]: Plugin vfr_hud loaded
[ INFO] [1655015325.074857391]: Plugin vfr_hud initialized
[ INFO] [1655015325.074876374]: Plugin vibration blacklisted
[ INFO] [1655015325.074941305]: Plugin vision_pose_estimate loaded
[ INFO] [1655015325.078482432]: Plugin vision_pose_estimate initialized
[ INFO] [1655015325.078550754]: Plugin vision_speed_estimate loaded
[ INFO] [1655015325.080373724]: Plugin vision_speed_estimate initialized
[ INFO] [1655015325.080452266]: Plugin waypoint loaded
[ INFO] [1655015325.082928447]: Plugin waypoint initialized
[ INFO] [1655015325.082950284]: Plugin wheel_odometry blacklisted
[ INFO] [1655015325.083024015]: Plugin wind_estimation loaded
[ INFO] [1655015325.083382787]: Plugin wind_estimation initialized
[ INFO] [1655015325.083491610]: Autostarting mavlink via USB on PX4
[ INFO] [1655015325.083561272]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1655015325.083575479]: Built-in MAVLink package version: 2022.3.3
[ INFO] [1655015325.083591032]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1655015325.083611180]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1655015325.118019355]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1655015325.118795919]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [1655015325.137814, 0.000000]: Loading model XML from file /home/xzeng/catkin_ws/XTDrone/PX4-Autopilot/Tools/sitl_gazebo/models/iris/iris.sdf
[INFO] [1655015325.140484, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1655015325.149790099]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1655015325.150560471]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1655015325.708953853, 0.008000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1655015325.722326162, 0.024000000]: Physics dynamic reconfigure ready.
[INFO] [1655015325.743434, 0.000000]: Calling service /gazebo/spawn_sdf_model
[INFO] [1655015325.947352, 0.160000]: Spawn status: SpawnModel: Successfully spawned entity
[vehicle_spawn_mypassportssd_99160_591514576132341079-5] process has finished cleanly
log file: /home/xzeng/.ros/log/e8867156-ea18-11ec-809c-b42e9931130e/vehicle_spawn_mypassportssd_99160_591514576132341079-5*.log
INFO  [simulator] Simulator connected on TCP port 4560.
INFO  [commander] LED: open /dev/led0 failed (22)
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [init] setting PWM_AUX_OUT none
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO  [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO  [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] ./log/2022-06-12/06_28_46.ulg	
INFO  [logger] Opened full log file: ./log/2022-06-12/06_28_46.ulg
[ INFO] [1655015326.817575395, 0.348000000]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1655015326.817781366, 0.348000000]: IMU: High resolution IMU detected!
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO  [px4] Startup script returned successfully
pxh> INFO  [mavlink] partner IP: 127.0.0.1
INFO  [tone_alarm] notify positive
[ INFO] [1655015327.799601458, 1.328000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1655015327.800488842, 1.328000000]: IMU: High resolution IMU detected!
[ INFO] [1655015328.640662203, 2.168000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1655015328.808524098, 2.336000000]: GF: Using MISSION_ITEM_INT
[ INFO] [1655015328.808559437, 2.336000000]: RP: Using MISSION_ITEM_INT
[ INFO] [1655015328.808577915, 2.336000000]: WP: Using MISSION_ITEM_INT
[ INFO] [1655015328.808594968, 2.336000000]: VER: 1.1: Capabilities         0x000000000000e4ff
[ INFO] [1655015328.808616829, 2.336000000]: VER: 1.1: Flight software:     010d0040 (96b0304049000000)
[ INFO] [1655015328.808631241, 2.336000000]: VER: 1.1: Middleware software: 010d0040 (96b0304049000000)
[ INFO] [1655015328.808642370, 2.336000000]: VER: 1.1: OS software:         05110cff (91bece51afbe7da9)
[ INFO] [1655015328.808653917, 2.336000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1655015328.808675738, 2.336000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1655015328.808700398, 2.336000000]: VER: 1.1: UID:                 4954414c44494e4f
INFO  [tone_alarm] home set
INFO  [tone_alarm] notify negative
[ INFO] [1655015342.805243179, 16.328000000]: WP: mission received
[ INFO] [1655015342.805464278, 16.328000000]: RP: mission received
[ INFO] [1655015342.805542165, 16.328000000]: GF: mission received

4. 参考

  • MAVROS https://zhuanlan.zhihu.com/p/364390798
  • http://wiki.ros.org/mavros
  • https://zhuanlan.zhihu.com/p/337919677 [入门教程] PX4-Gazebo仿真

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