{"id":1096,"date":"2025-12-29T22:13:55","date_gmt":"2025-12-29T14:13:55","guid":{"rendered":"https:\/\/www.kakosci.com\/?p=1096"},"modified":"2025-12-29T22:18:00","modified_gmt":"2025-12-29T14:18:00","slug":"px4gazebo%e4%bb%bf%e7%9c%9f%ef%bc%8c%e8%87%aa%e5%ae%9a%e4%b9%89world%e5%9c%ba%e6%99%af%e5%92%8c%e6%97%a0%e4%ba%ba%e6%9c%ba%e4%bc%a0%e6%84%9f%e5%99%a8model%e5%8f%8a%e5%b1%9e%e6%80%a7","status":"publish","type":"post","link":"https:\/\/www.kakosci.com\/index.php\/2025\/12\/29\/px4gazebo%e4%bb%bf%e7%9c%9f%ef%bc%8c%e8%87%aa%e5%ae%9a%e4%b9%89world%e5%9c%ba%e6%99%af%e5%92%8c%e6%97%a0%e4%ba%ba%e6%9c%ba%e4%bc%a0%e6%84%9f%e5%99%a8model%e5%8f%8a%e5%b1%9e%e6%80%a7\/","title":{"rendered":"PX4+Gazebo\u4eff\u771f\uff0c\u81ea\u5b9a\u4e49world\u573a\u666f\u548c\u65e0\u4eba\u673a\u4f20\u611f\u5668model\u53ca\u5c5e\u6027"},"content":{"rendered":"\n

\u66f4\u65b0\u6700\u9891\u7e41\u7684\u4e00\u96c6\uff0c\u6211\u9760\u8fd9\u7bc7\u7d2f\u6b7b\u6211\u3002\u73af\u5883\u4e3aUbuntu 22.04.5\uff0cPX4 1.16.0\uff0cGazebo Sim 8 (Harmonic)\u3002\u672c\u6587xml\u542b\u91cf\u6781\u9ad8\u3002<\/p>\n\n\n\n

worlds\u6dfb\u52a0\u4e0e\u914d\u7f6e<\/h2>\n\n\n\n

PX4\u81ea\u5e26\u7684\u4e16\u754c\u90fd\u5728clone\u4ed3\u5e93\u7684\u8def\u5f84\u91cc\uff1a~\/PX4-Autopilot\/Tools\/simulation\/gz\/worlds\uff0cpx4\u542f\u52a8\u65f6\u9ed8\u8ba4\u7684\u4e16\u754c\u5c31\u662fdefault.sdf\u3002\u8fd9\u91cc\u4ee5baylands.sdf\u4e3a\u4f8b\uff1a<\/p>\n\n\n\n

<sdf version='1.9'>\n  <world name='baylands'>\n    <physics type=\"ode\">\n      <max_step_size>0.004<\/max_step_size>\n      <real_time_factor>1.0<\/real_time_factor>\n      <real_time_update_rate>250<\/real_time_update_rate>\n    <\/physics>\n    <gravity>0 0 -9.8<\/gravity>\n    <magnetic_field>6e-06 2.3e-05 -4.2e-05<\/magnetic_field>\n    <atmosphere type='adiabatic'\/>\n    <scene>\n      <ambient>0.8 0.5 1<\/ambient>\n      <grid>false<\/grid>\n      <sky>\n        <clouds>true<\/clouds>\n      <\/sky>\n      <shadows>1<\/shadows>\n    <\/scene>\n    <light name='sunUTC' type='directional'>\n      <pose>0 0 500 0 -0 0<\/pose>\n      <cast_shadows>false<\/cast_shadows>\n      <intensity>1<\/intensity>\n      <direction>0.001 0.625 -0.78<\/direction>\n      <diffuse>0.904 0.904 0.904 1<\/diffuse>\n      <specular>0.271 0.271 0.271 1<\/specular>\n      <attenuation>\n        <range>2000<\/range>\n        <linear>0<\/linear>\n        <constant>1<\/constant>\n        <quadratic>0<\/quadratic>\n      <\/attenuation>\n    <\/light>\n    <include>\n      <uri>\n        https:\/\/fuel.gazebosim.org\/1.0\/OpenRobotics\/models\/baylands\n      <\/uri>\n      <name>park<\/name>\n      <pose>205 155 -1 0 0 0<\/pose>\n    <\/include>\n    <include>\n      <uri>\n        https:\/\/fuel.gazebosim.org\/1.0\/OpenRobotics\/models\/Coast Water\n      <\/uri>\n      <pose>0 0 -2 0 0 0\n        <relative_to>park<\/relative_to>\n      <\/pose>\n    <\/include>\n    <spherical_coordinates>\n      <surface_model>EARTH_WGS84<\/surface_model>\n      <world_frame_orientation>ENU<\/world_frame_orientation>\n      <latitude_deg>37.412173071650805<\/latitude_deg>\n      <longitude_deg>-121.998878727967<\/longitude_deg>\n      <elevation>38<\/elevation>\n    <\/spherical_coordinates>\n  <\/world>\n<\/sdf><\/code><\/pre>\n\n\n\n
\u5176\u5b9e\u80fd\u53d1\u73b0\u4e00\u4e2asdf\u7684\u7ed3\u6784\u8fd8\u662f\u5f88\u6e05\u6670\u7684\uff0cphysics\u6807\u7b7e\u5b9a\u4e49\u4e86\u7269\u7406\u4eff\u771f\u6a21\u5f0f\u548c\u5237\u65b0\u901f\u5ea6\u7b49\uff0c\u4e0b\u9762\u8fd8\u6709\u91cd\u529b\u3001\u78c1\u573a\u3001\u5927\u6c14\u3001\u73af\u5883\u3001\u592a\u9633\u5149\u3002\u4e2d\u95f4\u63d2\u5165\u4e86\u4e24\u4e2a\u5efa\u6a21\uff0cbaylands\u548cCoast Water\uff0c\u5e76\u4e14\u94fe\u63a5\u5230gazebo\u5b98\u65b9\u7684\u6a21\u578b\u5e93\u7f51\u7ad9\uff0c\u6240\u4ee5\u7b2c\u4e00\u6b21\u8fd0\u884c\u8fd9\u4e2a\u4e16\u754c\u7684\u8bdd\uff0c\u7a0b\u5e8f\u4f1a\u5148\u81ea\u52a8\u4e0b\u8f7d\u9700\u8981\u7684\u6a21\u578b\uff0c\u4fdd\u5b58\u5728\u9690\u85cf\u6587\u4ef6\u5939~\/.simulation-gazebo\/\u4e2d\u3002\u6700\u540e\u7684spherical_coordinates\u6807\u7b7e\u5185\u5219\u662f\u4e00\u4e9b\u5b9a\u4f4d\u4fe1\u606f\u3002\u8fd9\u91cc\u9762\u7684\u91cd\u529b\u3001\u78c1\u573a\u3001\u5927\u6c14\u3001\u5b9a\u4f4d\u7b49\u4fe1\u606f\u90fd\u662f\u4eff\u771f\u98de\u63a7\u9700\u8981\u7684\uff0c\u6ca1\u914d\u7f6e\u597d\u4f1a\u5bfc\u81f4\u4e0d\u5141\u8bb8\u8d77\u98de\u3002<\/p>\n\n\n\n
\u524d\u6bb5\u65f6\u95f4\u5728\u5b66\u6821\u503e\u659c\u6444\u5f71\u4e86\u6821\u53f2\u9986\uff0c\u6a21\u578b\u5efa\u51fa\u6765\u8fd8\u4e0d\u8d56\uff0c\u95ee\u9898\u6765\u4e86SCAU\u4e3a\u4ec0\u4e48\u4e0d\u53bb\u5efa\u9178\u5976\u7684\u6a21<\/s>\u3002\u6ce8\u610f\u81ea\u5df1\u7684\u6a21\u578b\u6700\u597d\u662fdae\u683c\u5f0f\uff0c\u8981\u7528blender\u7f16\u8f91\u7684\u8bdd\u6211\u8fd9\u7528\u7684\u662f\u957f\u671f\u7ef4\u62a4\u76844.2\u7684\u6700\u65b0\u7248\u3002<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u63a5\u4e0b\u6765\u628a\u6a21\u578b\u5305\u88c5\u6210\u4e00\u4e2a\u672c\u5730\u7684gazebo\u4e16\u754c\u3002\u6211\u5728home\u4e0b\u521b\u5efa\u4e86\u4e00\u4e2amyDAEs\u7684\u6a21\u578b\u6839\u76ee\u5f55\uff0c\u7136\u540e\u5728\u8be5\u6a21\u578b\u7684\u76ee\u5f55\u4e0b\u6709\u4e09\u6837\u4e1c\u897f\uff0cmeshes\u91cc\u9762\u662f\u6a21\u578b\u6587\u4ef6\u4ee5\u53ca\u8d34\u56fe\uff0c\u53e6\u5916\u4e24\u4e2a\u90fd\u662f\u5fc5\u8981\u7684\u914d\u7f6e\u6587\u4ef6\u3002\u914d\u7f6e\u6587\u4ef6\u548c\u76ee\u5f55\u7684\u540d\u79f0\u8981\u6ce8\u610f\u5339\u914d\u4e00\u4e0b\uff0c\u5177\u4f53\u6709\u4ec0\u4e48\u89c4\u5b9a\u6211\u4e5f\u5fd8\u4e86\uff08\uff09<\/p>\n\n\n\n
\n
\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n<\/div><\/div>\n\n\n\n
\u6b64\u5904\u7684sdf\u6587\u4ef6\uff0c\u6ce8\u610f\u8fd9\u4e2asdf\u548c\u524d\u9762\u90a3\u4e2asdf\u529f\u80fd\u5e76\u4e0d\u4e00\u6837\uff0c\u8fd9\u91cc\u4e3b\u8981\u662f\u5b9a\u4e49\u6a21\u578b\u548c\u78b0\u649e\u7bb1\uff1a<\/p>\n\n\n\n
<?xml version=\"1.0\" ?>\n<sdf version=\"1.9\">\n  <model name=\"HistoryM\">\n    <static>true<\/static>\n    \n    <link name=\"link\">\n      <visual name=\"visual\">\n        <geometry>\n          <mesh>\n            <uri>model:\/\/HistoryM\/meshes\/HistoryM20251211.dae<\/uri>\n            <scale>1.0 1.0 1.0<\/scale>\n          <\/mesh>\n        <\/geometry>\n      <\/visual>\n\n      <collision name=\"collision\">\n        <geometry>\n          <mesh>\n            <uri>model:\/\/HistoryM\/meshes\/HistoryM20251211.dae<\/uri>\n            <scale>1.0 1.0 1.0<\/scale>\n          <\/mesh>\n        <\/geometry>\n        <\/collision>\n    <\/link>\n  <\/model>\n<\/sdf><\/code><\/pre>\n\n\n\n
model.config\uff1a<\/p>\n\n\n\n
<?xml version=\"1.0\"?>\n<model>\n  <name>HistoryM<\/name>\n  <version>1.0<\/version>\n  <sdf version=\"1.9\">HistoryM.sdf<\/sdf>\n\n  <author>\n    <name>Evil KT<\/name>\n    <email>xxx@163.com<\/email>\n  <\/author>\n\n  <description>\n  SCAU History Museum.\n  <\/description>\n<\/model><\/code><\/pre>\n\n\n\n
\u4e3a\u4ec0\u4e48\u8981\u914d\u7f6e\u8fd9\u4e48\u591a\uff0c\u95eepx4\u548cgazebo\u7684\u4eba\u53bb\u3002\u63a5\u4e0b\u6765\u8981\u914d\u7f6e\u73af\u5883\u53d8\u91cf\uff0cgedit ~\/.bashrc\u4e00\u4e0b\uff0c\u7136\u540e\u628a\u8fd9\u53e5\u52a0\u5230\u6700\u540e\u4e00\u884c\uff0c\u8fd9\u6837\u4ee5\u540e\u6211\u81ea\u5df1\u7684\u4e16\u754c\u6a21\u578b\u90fd\u653e\u5728\u8fd9\u4e2a\u6587\u4ef6\u5939\u91cc\uff0cgazebo\u4e5f\u80fd\u76f4\u63a5\u8bbf\u95ee\u5230\uff1a<\/p>\n\n\n\n
export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:~\/myDAEs<\/code><\/pre>\n\n\n\n
\u518d\u56de\u5230PX4\u7684worlds\u8def\u5f84\u4e2d\uff0c\u518d\u521b\u5efa\u4e00\u4e2a\u914d\u7f6e\u6587\u4ef6\uff0c\u6211\u8fd9\u662fHistoryM.sdf\uff0c\u4eff\u7167\u524d\u9762baylands\u5199\u5982\u4e0b\u5185\u5bb9\uff1a<\/p>\n\n\n\n
<sdf version='1.9'>\n  <world name='historyM'>\n    <physics type=\"ode\">\n      <max_step_size>0.001<\/max_step_size>\n      <real_time_factor>1.0<\/real_time_factor>\n      <real_time_update_rate>1000<\/real_time_update_rate>\n    <\/physics>\n    <gravity>0 0 -9.8<\/gravity>\n    <magnetic_field>6e-06 2.3e-05 -4.2e-05<\/magnetic_field>\n    <atmosphere type='adiabatic'\/>\n    <scene>\n      <ambient>0.8 0.5 1<\/ambient>\n      <grid>false<\/grid>\n      <sky>\n        <clouds>true<\/clouds>\n      <\/sky>\n      <shadows>1<\/shadows>\n    <\/scene>\n    <light name='sunUTC' type='directional'>\n      <pose>0 0 500 0 -0 0<\/pose>\n      <cast_shadows>false<\/cast_shadows>\n      <intensity>1<\/intensity>\n      <direction>0.001 0.625 -0.78<\/direction>\n      <diffuse>0.904 0.904 0.904 1<\/diffuse>\n      <specular>0.271 0.271 0.271 1<\/specular>\n      <attenuation>\n        <range>2000<\/range>\n        <linear>0<\/linear>\n        <constant>1<\/constant>\n        <quadratic>0<\/quadratic>\n      <\/attenuation>\n    <\/light>\n    \n    <include>\n      <uri>model:\/\/HistoryM<\/uri>\n      <name>HistoryM<\/name>\n      <pose>0 0 -2 0 0 0<\/pose>\n    <\/include>\n    \n    <spherical_coordinates>\n      <surface_model>EARTH_WGS84<\/surface_model>\n      <world_frame_orientation>ENU<\/world_frame_orientation>\n      <latitude_deg>23.159806<\/latitude_deg>\n      <longitude_deg>113.343986<\/longitude_deg>\n      <elevation>30<\/elevation>\n    <\/spherical_coordinates>\n  <\/world>\n<\/sdf><\/code><\/pre>\n\n\n\n
\u6ce8\u610f\u6709\u51e0\u9879\u4fee\u6539\u3002\u5b9e\u9a8c\u7684\u65f6\u5019\u53d1\u73b0\u5728\u81ea\u5df1\u7684\u4e16\u754c\u4e0b\uff0c\u65e0\u4eba\u673a\u7f57\u76d8\u4f1a\u4e00\u76f4\u627e\u65b9\u5411\u4e00\u76f4\u8f6c\uff0c\u4f3c\u4e4e\u662f\u56e0\u4e3a\u81ea\u5df1\u7684\u6a21\u578b\u6bd4\u8f83\u5927\uff0c\u7269\u7406\u5237\u65b0\u6ca1\u8ddf\u4e0a\u8fd8\u662f\u600e\u4e48\uff0cmax_step_size\u6539\u62100.001\u4e4b\u540e\u57fa\u672c\u5c31\u6b63\u5e38\u4e86\uff0c\u7136\u540ereal_time_update_rate\u6539\u62101000\uff0c\u8fd9\u4e24\u8005\u76f8\u4e58\u8981\u7b49\u4e8e\u4e2d\u95f4\u7684real_time_factor\uff0c\u8fd9\u4e2a\u662f\u76f8\u5bf9\u4e8e\u73b0\u5b9e\u4e16\u754c\u7684\u65f6\u95f4\u5feb\u6162\uff0c\u6b64\u59041\u4ee3\u8868\u4e0e\u73b0\u5b9e\u65f6\u95f4\u6d41\u901f\u4e00\u81f4\u3002\u4e0b\u9762\u7684\u6a21\u578b\u6362\u6210\u81ea\u5df1\u7684\uff0c\u56e0\u4e3a\u8bbe\u5b9a\u4e86\u73af\u5883\u53d8\u91cf\uff0curi\u5199model:\/\/HistoryM\u5c31\u884c\u3002\u5b9a\u4f4d\u6539\u5230\u4e86\u8fd9\u4e2a\u5efa\u6a21\u7684\u5b9e\u9645\u4f4d\u7f6e\u3002<\/p>\n\n\n\n
\u542f\u52a8\u4eff\u771f\uff0c\u6dfb\u52a0\u4e00\u4e2a\u65e0\u4eba\u673a\u521d\u59cb\u4f4d\u7f6e\u53c2\u6570\u548c\u4e00\u4e2a\u9009world\u7684\u53c2\u6570\u5c31\u53ef\u4ee5\u4e86\u3002\u8fd9\u91cc\u5f00\u7684\u4e91\u53f0\u76f8\u673a\uff0c\u8bdd\u9898\u53d1\u5e03\u7565\u3002<\/p>\n\n\n\n
PX4_GZ_MODEL_POSE=-17.7,3.2,1.4,0,0,0 PX4_GZ_WORLD=historyM make px4_sitl gz_x500_gimbal<\/code><\/pre>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u65e0\u4eba\u673a\u4f20\u611f\u5668\u6a21\u578b\u914d\u7f6e<\/h2>\n\n\n\n
\u8ddfworld\u7c7b\u4f3c\uff0c\u65e0\u4eba\u673a\u76f8\u5173\u7684\u6a21\u578b\u6587\u4ef6\u5728~\/PX4-Autopilot\/Tools\/simulation\/gz\/models\uff0c\u5e76\u4e14\u5efa\u6a21\u548c\u5176\u4ed6\u914d\u7f6e\u6587\u4ef6\u90fd\u653e\u8fd9\u513f\u5c31\u884c\uff0c\u91cc\u9762\u6709\u6240\u6709\u81ea\u5e26\u7684\u673a\u67b6\u548c\u5404\u79cd\u4f20\u611f\u5668\uff0c\u57fa\u672c\u4e0a\u4eff\u7167\u7740\u5199\u3002\u4e0d\u8fc7\u540e\u9762\u8fd8\u6709\u4e2a\u4e3a\u65b0\u65e0\u4eba\u673a\u6ce8\u518c\u7684\u6d41\u7a0b\u3002<\/p>\n\n\n\n
PX4\u81ea\u5e26\u7684\u6fc0\u5149\u96f7\u8fbe\u53ea\u67091d\u548c2d\u7684\uff0c\u4e5f\u5c31\u662f\u4e00\u4e2a\u70b9\u6216\u8005\u6c34\u5e73\u9762\u4e0a\u4e00\u6761\u7ebf\u3002\u6240\u4ee5\u6211\u6765\u4ecelidar_2d_v2\u7684\u57fa\u7840\u4e0a\u6309\u7167livox mid-360\u6fc0\u5149\u96f7\u8fbe\uff0c\u6539\u4e2a\u65b0\u7684\u65e0\u4eba\u673a\u3002\u590d\u5236lidar_2d_v2\u6539\u540dlivox_mid_360\u6587\u4ef6\u5939\uff0c\u4fee\u6539model.sdf\uff1a<\/p>\n\n\n\n
<?xml version=\"1.0\" ?>\n<sdf version=\"1.6\">\n  <model name=\"livox_mid_360\">\n    <link name=\"lidar_link\">\n      <pose>0 0 0 0 0 0<\/pose>\n\n      <inertial>\n        <pose>0 0 0.030 0 0 0<\/pose> <mass>0.265<\/mass> <inertia>\n          <ixx>0.00018<\/ixx>\n          <ixy>0<\/ixy>\n          <ixz>0<\/ixz>\n          <iyy>0.00018<\/iyy>\n          <iyz>0<\/iyz>\n          <izz>0.00016<\/izz>\n        <\/inertia>\n      <\/inertial>\n\n      <collision name=\"collision_box\">\n        <pose>0 0 0.030 0 0 0<\/pose> <geometry>\n          <box>\n            <size>0.065 0.065 0.060<\/size> <\/box>\n        <\/geometry>\n      <\/collision>\n      <visual name=\"visual\">\n        <geometry>\n          <mesh>\n            <uri>model:\/\/livox_mid_360\/meshes\/livox_mid_360.dae<\/uri>\n          <\/mesh>\n        <\/geometry>\n      <\/visual>\n\n      <sensor name=\"lidar\" type=\"gpu_lidar\">\n        <pose>0 0 0.09 0 0 0<\/pose> <ray>\n          <scan>\n            <horizontal>\n              <samples>720<\/samples> <resolution>1<\/resolution>\n              <min_angle>0<\/min_angle>\n              <max_angle>6.283185<\/max_angle> <\/horizontal>\n            <vertical>\n              <samples>64<\/samples> \n              <resolution>1<\/resolution>\n              <min_angle>-0.122173<\/min_angle> <max_angle>0.907571<\/max_angle> <\/vertical>\n          <\/scan>\n          <range>\n            <min>0.1<\/min> <max>70<\/max> <resolution>0.01<\/resolution>\n          <\/range>\n          <noise>\n            <type>gaussian<\/type>\n            <mean>0.0<\/mean>\n            <stddev>0.02<\/stddev> \n          <\/noise>\n        <\/ray>\n        \n        <always_on>1<\/always_on>\n        <update_rate>10<\/update_rate> <visualize>false<\/visualize>\n      <\/sensor>\n    <\/link>\n  <\/model>\n<\/sdf><\/code><\/pre>\n\n\n\n
\u8fd9\u91cc\u7a0d\u5fae\u6539\u4e86\u4e0b\u78b0\u649e\u7bb1\uff0c\u7136\u540esensor\u6807\u7b7e\u6539\u6210mid360\u5b9e\u9645\u7684\u4e00\u4e9b\u53c2\u6570\uff0c\u8fd8\u6709\u566a\u58f0\u7b49\u7b49\u3002model.config\u91cc\u9762\u5c31\u6539\u6539name\u4ec0\u4e48\u7684\u597d\u4e86\uff0c\u53cd\u6b63\u7167\u7740\u7ed9\u7684\u793a\u4f8b\u6765\u597d\u5566\u3002<\/p>\n\n\n\n
\u7136\u540e\u4eff\u7167x500_lidar_2d\u7684\u914d\u7f6e\uff0c\u5199\u4e2ax500_livox\u914d\u7f6e\uff0c\u6211\u4e3b\u8981\u628a\u6fc0\u5149\u96f7\u8fbe\u4f4d\u7f6e\u653e\u5230\u4e86\u65e0\u4eba\u673a\u4e2d\u592e\uff0c\u7136\u540e\u987a\u4fbf\u628a\u81ea\u5e26\u7684\u6df1\u5ea6\u76f8\u673a\u914d\u7f6e\u4e5f\u7ed9\u585e\u4e86\u8fdb\u6765\uff08\u559c\uff09\u3002<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u6ce8\u518c\u6b65\u9aa4\uff1a\u518d\u6765\u5230\u8def\u5f84~\/PX4-Autopilot\/ROMFS\/px4fmu_common\/init.d-posix\/airframes\uff0c\u4f9d\u65e7\u4eff\u71674013_gz_x500_lidar_2d\u521b\u5efa\u4e86\u4e2a4022_gz_x500_livox\u3002\u518d\u6253\u5f00CMakeLists.txt\uff0c\u628a4022_gz_x500_livox\u6dfb\u52a0\u52304021\u65e0\u4eba\u673a\u7684\u540e\u4e00\u4f4d\u3002\u73b0\u5728\u6e05\u7406\u6389\u4e4b\u524d\u7684\u7f16\u8bd1\u6587\u4ef6\uff0c\u518d\u91cd\u65b0\u7f16\u8bd1\u542f\u52a8\u5373\u53ef\uff1a<\/p>\n\n\n\n
make clean\nPX4_GZ_MODEL_POSE=-17.7,3.2,1.4,0,0,0 PX4_GZ_WORLD=historyM make px4_sitl gz_x500_livox<\/code><\/pre>\n\n\n\n
gz topic -l\u67e5\u8be2\u73b0\u6709\u7684gz\u8bdd\u9898\uff0c\u628a\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u3001\u6df1\u5ea6\u76f8\u673a\u70b9\u4e91\u548c\u56fe\u50cf\u6865\u63a5\u5230ROS2\uff1a<\/p>\n\n\n\n
ros2 run ros_gz_bridge parameter_bridge \/world\/historyM\/model\/x500_livox_0\/link\/lidar_link\/sensor\/lidar\/scan\/points@sensor_msgs\/msg\/PointCloud2@gz.msgs.PointCloudPacked\n\nros2 run ros_gz_bridge parameter_bridge \/depth_camera\/points@sensor_msgs\/msg\/PointCloud2@gz.msgs.PointCloudPacked\n\nros2 run ros_gz_bridge parameter_bridge \/world\/historyM\/model\/x500_livox_0\/link\/camera_link\/sensor\/IMX214\/image@sensor_msgs\/msg\/Image@gz.msgs.Image<\/code><\/pre>\n\n\n\n
\u542f\u52a8rviz2\u4e4b\u540e\u5982\u679cfixed_frame\u4e0d\u6b63\u5e38<\/strong>\uff08\u6709\u70b9\u7384\u5b66\uff09\uff0c\u9700\u8981\u624b\u52a8\u53d1\u5e03\u9759\u6001\u5750\u6807\u8f6c\u6362\uff0cros2 topic echo \/world\/historyM\/model\/x500_livox_0\/link\/lidar_link\/sensor\/lidar\/scan\/points\u8fd9\u6837\u7684\u6307\u4ee4\u53ef\u4ee5\u83b7\u53d6\u8bdd\u9898\u7684frame_id\uff0c\u5176\u5b9e\u5c31\u662f\u5728gazebo\u53f3\u4e0b\u89d2\u7684\u4f20\u611f\u5668\u8def\u5f84\u3002\u53d1\u5e03\u4e24\u4e2a\u53d8\u6362\uff0c\u8981\u91cd\u65b0\u5b9a\u4e49\u76f8\u5bf9\u5750\u6807\uff0c\u8fd9\u91cc\u7684base_link\u76f8\u5f53\u4e8e\u662f\u65b0\u5efa\u7684\u5750\u6807\u7cfb\uff0c\u540d\u79f0\u65e0\u6240\u8c13\uff0c\u4e5f\u53ef\u4ee5\u7528map\u7b49\u3002<\/p>\n\n\n\n
ros2 run tf2_ros static_transform_publisher 0 0 0.26 0 0 0 base_link x500_livox_0\/lidar_link\/lidar\n\nros2 run tf2_ros static_transform_publisher .12 .03 .242 0 0 0 base_link x500_livox_0\/camera_link\/StereoOV7251<\/code><\/pre>\n\n\n\n
\u5443\uff0c\u8fd9\u56fe\u662f\u8fd8\u6ca1\u52a0\u6df1\u5ea6\u76f8\u673a\u65f6\u5019\u7684\u622a\u56fe\u2026\u2026\u54e6\u96f7\u8fbe\u6a21\u578b\u4e5f\u56e0\u4e3a\u8def\u5f84\u5199\u9519\u9690\u85cf\u4e86\u3002\u53cd\u6b63\u540e\u6765\u662f\u6b63\u5e38\u7684\u3002<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u5173\u4e8e\u4eff\u771f\u5668\u5750\u6807\u7cfb\u548c\u9759\u6001tf\u7684\u95ee\u9898\uff0c\u9644\u5728github\u4e0a\u53d1\u7684\u795e\u79d8\u4ed9\u5bb6issue\uff1ahttps:\/\/github.com\/PX4\/PX4-Autopilot\/issues\/26129#event-21618582560<\/a><\/p>\n\n\n\n
\u7766\u5934\uff1a\u4ece\u6765\u6ca1\u6709\u89c9\u5f97\u641e\u4eff\u771f\u5f00\u5fc3\u8fc7\u2026\u2026<\/p>\n\n\n\n
<\/p>\n","protected":false},"excerpt":{"rendered":"
\u66f4\u65b0\u6700\u9891\u7e41\u7684\u4e00\u96c6\uff0c\u6211\u9760\u8fd9\u7bc7\u7d2f\u6b7b\u6211\u3002\u73af\u5883\u4e3aUbuntu 22.04.5\uff0cPX4 1...<\/p>\n","protected":false},"author":1,"featured_media":1083,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[95,87,66],"tags":[92,90,99,88,86],"class_list":["post-1096","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-ros2","category-87","category-66","tag-gazebo","tag-px4","tag-xml","tag-88","tag-86"],"_links":{"self":[{"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/posts\/1096","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/comments?post=1096"}],"version-history":[{"count":62,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/posts\/1096\/revisions"}],"predecessor-version":[{"id":1166,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/posts\/1096\/revisions\/1166"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/media\/1083"}],"wp:attachment":[{"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/media?parent=1096"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/categories?post=1096"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/tags?post=1096"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}