{"id":1203,"date":"2026-02-04T16:56:45","date_gmt":"2026-02-04T08:56:45","guid":{"rendered":"https:\/\/www.kakosci.com\/?p=1203"},"modified":"2026-02-04T16:58:08","modified_gmt":"2026-02-04T08:58:08","slug":"jetson-orin-nx%ef%bc%88ubuntu-22-04%ef%bc%8cros2-humble%ef%bc%89%e9%83%a8%e7%bd%b2mavros%e5%8f%91%e5%b8%83%e9%a3%9e%e6%8e%a7imu%e8%af%9d%e9%a2%98%e8%ae%b0%e5%bd%95","status":"publish","type":"post","link":"https:\/\/www.kakosci.com\/index.php\/2026\/02\/04\/jetson-orin-nx%ef%bc%88ubuntu-22-04%ef%bc%8cros2-humble%ef%bc%89%e9%83%a8%e7%bd%b2mavros%e5%8f%91%e5%b8%83%e9%a3%9e%e6%8e%a7imu%e8%af%9d%e9%a2%98%e8%ae%b0%e5%bd%95\/","title":{"rendered":"Jetson Orin NX\uff08Ubuntu 22.04\uff0cROS2 Humble\uff09\u90e8\u7f72MAVROS\u53d1\u5e03\u98de\u63a7IMU\u8bdd\u9898\u8bb0\u5f55"},"content":{"rendered":"\n<p>\u76ee\u7684\u662f\u642d\u914d\u6df1\u5ea6\u76f8\u673a\u53d1\u5e03\u7684RGB-D\u505a\u89c6\u89c9\u60ef\u6027\u91cc\u7a0b\u8ba1\uff0c\u5662\u8036\u3002\u56e0\u4e3a\u4fbf\u5b9c\u76f8\u673a\u6ca1\u6709\u81ea\u5e26\u7684imu\uff0c\u5662\u607c\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u63a5\u7ebf<\/h2>\n\n\n\n<p>\u4ee5Pixhawk 6c mini\u4e3a\u4f8b\uff08\u56fa\u4ef6\u7248\u672c\u662f1.16.0\uff09\uff0c\u98de\u63a7\u7684telem1\u7ed9\u6570\u4f20\u4e86\uff0c\u6240\u4ee5\u7528telem2\u3002\u53ea\u9700\u8981\u7528pin2\u30013\u30016\uff0c\u538b\u63a5\u5230Jetson\u4e0a\u76846\u30018\u300110\u53f7\u9488\u811a\uff0c\u5176\u4e2dGND\u4e92\u63a5\uff0cTX\u548cRX\u53cd\u63a5\uff0c\u5373\u98de\u63a7\u7684TX\u8f93\u51fa\u63a5\u677f\u5b50\u7684RX\u8f93\u5165\uff0c\u98de\u63a7\u7684RX\u53cd\u4e4b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1008\" height=\"421\" src=\"https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/01\/image.png\" alt=\"\" class=\"wp-image-1212\" srcset=\"https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/01\/image.png 1008w, https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/01\/image-300x125.png 300w, https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/01\/image-768x321.png 768w, https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/01\/image-670x280.png 670w\" sizes=\"auto, (max-width: 1008px) 100vw, 1008px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"593\" height=\"762\" src=\"https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/01\/image-1.png\" alt=\"\" class=\"wp-image-1213\" srcset=\"https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/01\/image-1.png 593w, https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/01\/image-1-233x300.png 233w\" sizes=\"auto, (max-width: 593px) 100vw, 593px\" \/><\/figure>\n\n\n\n<p>\u7528QGC\u7ed9\u98de\u63a7\u8bbe\u7f6e\u53c2\u6570\uff0cSER_TEL2_BAUD\u8bbe\u7f6e\u4e3a921600 8IN1\uff08\u597d\u50cf\u662f\u9ed8\u8ba4\u7684\uff1f\uff09\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u8ba9Jetson\u80fd\u6b63\u5e38\u8bbf\u95ee\u4e32\u53e3\uff0c\u8fd8\u9700\u8981\u628a\u5f53\u524d\u7528\u6237\u6dfb\u52a0\u5230dialout\u7ec4\u4e2d\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">sudo usermod -a -G dialout $USER<\/code><\/pre>\n\n\n\n<h2 class=\"wp-block-heading\">MAVROS<\/h2>\n\n\n\n<p>\u9700\u8981\u914d\u7f6e\u98de\u63a7\u53c2\u6570\u5982\u4e0b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"639\" height=\"157\" src=\"https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/01\/image-2.png\" alt=\"\" class=\"wp-image-1219\" srcset=\"https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/01\/image-2.png 639w, https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/01\/image-2-300x74.png 300w\" sizes=\"auto, (max-width: 639px) 100vw, 639px\" \/><\/figure>\n\n\n\n<p>mavros\u5b89\u88c5\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">sudo apt install ros-humble-mavros ros-humble-mavros-extras<\/code><\/pre>\n\n\n\n<p>mavros\u542f\u52a8\uff08\u9ed8\u8ba4\u542f\u52a8\uff0c\u4f1a\u641e\u51fa\u4e00\u5806\u8bdd\u9898\u3001\u670d\u52a1\uff09\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">ros2 launch mavros px4.launch fcu_url:=serial:\/\/\/dev\/ttyTHS1:921600<\/code><\/pre>\n\n\n\n<p>IMU\u548c\u59ff\u6001\u6d88\u606f\u9891\u7387\u4fee\u6539\uff0c\u524d\u8005\u5f71\u54cddata_raw\u7684\u53d1\u5e03\u9891\u7387\uff0c\u4e24\u8005\u5747\u4fee\u6539\u624d\u80fd\u6539\u53d8\/mavros\/imu\/data\u7684\u9891\u7387\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">ros2 service call \/mavros\/set_message_interval mavros_msgs\/srv\/MessageInterval \"{message_id: 105, message_rate: 100.0}\"  # 105\uff1aHIGHRES_IMU\n\nros2 service call \/mavros\/set_message_interval mavros_msgs\/srv\/MessageInterval \"{message_id: 31, message_rate: 100.0}\"  # 31\uff1aATTITUDE<\/code><\/pre>\n\n\n\n<p>\u68c0\u67e5\u9891\u7387\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">ros2 topic hz \/mavros\/imu\/data\nros2 topic hz \/mavros\/imu\/data_raw<\/code><\/pre>\n\n\n\n<p>\u8f93\u51fa\u4e00\u767e\u5de6\u53f3\u7684\u9891\u7387\u5c31ok\u4e86\uff0c\u53ef\u4ee5\u7528\u98de\u63a7\u5904\u7406\u597d\u7684\/mavros\/imu\/data\u4f5c\u4e3aratb\u7684imu_topic\u8f93\u5165\u3002<\/p>\n\n\n\n<p>\u4e0b\u4e00\u7bc7\u8bb0\u5f55SLAM\u5b9a\u4f4d\u3001\u8bb0\u5f55\u8def\u5f84\u548c\u4fdd\u5b58\u73af\u5883\u70b9\u4e91\u4e4b\u7c7b\u7684\u5927\u6982)))))))):<\/p>\n\n\n\n<p><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u9644\u5f55\uff1aXRCE\u529f\u80fd\u5305\u5c1d\u8bd5\uff08\u653e\u5f03\uff0c\u641e\u4e0d\u51fa\u6765\uff09<\/h2>\n\n\n\n<p>cd\u5230\u5177\u4f53ros2\u9879\u76ee\u7684src\u76ee\u5f55\uff0cgit\u4e24\u4e2a\u529f\u80fd\u5305\u4ed3\u5e93\uff0c\u6307\u5b9ahumble\u5206\u652f\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">git clone -b humble https:\/\/github.com\/micro-ROS\/micro_ros_msgs.git\ngit clone -b humble https:\/\/github.com\/micro-ROS\/micro-ROS-Agent.git<\/code><\/pre>\n\n\n\n<p>\u9700\u8981\u5148\u7f16\u8bd1msgs\u5305<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\"># \u5148\u66f4\u65b0\u4f9d\u8d56\nrosdep install --from-paths src --ignore-src -y\ncolcon build --packages-select micro_ros_msgs\nsource install\/local_setup.bash<\/code><\/pre>\n\n\n\n<p>\u518d\u7f16\u8bd1\u5168\u90e8\u4ee3\u7801\uff08\u6216\u8005\u5c31\u7f16\u8bd1micro_ros_agent\uff09\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release<\/code><\/pre>\n\n\n\n<p>\u7136\u800c\u540e\u9762\u542f\u52a8\u8fd8\u662f\u5931\u8d25\u2026\u2026\u516b\u516d\u5feb\u6559\u6211):<\/p>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u76ee\u7684\u662f\u642d\u914d\u6df1\u5ea6\u76f8\u673a\u53d1\u5e03\u7684RGB-D\u505a\u89c6\u89c9\u60ef\u6027\u91cc\u7a0b\u8ba1\uff0c\u5662\u8036\u3002\u56e0\u4e3a\u4fbf\u5b9c\u76f8\u673a\u6ca1\u6709\u81ea\u5e26\u7684&#46;&#46;&#46;<\/p>\n","protected":false},"author":1,"featured_media":1197,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[87],"tags":[103,105,91,104,106,102],"class_list":["post-1203","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-87","tag-imu","tag-mavros","tag-ros2","tag-slam","tag-xrce","tag-102"],"_links":{"self":[{"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/posts\/1203","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=1203"}],"version-history":[{"count":38,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/posts\/1203\/revisions"}],"predecessor-version":[{"id":1246,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/posts\/1203\/revisions\/1246"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/media\/1197"}],"wp:attachment":[{"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/media?parent=1203"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/categories?post=1203"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/tags?post=1203"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}