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第一次通过通讯节点连接实现无人机仿真模拟（ROS1 + C++ + PX4）

news 2026/5/23 13:35:33

通过与chatGPT之间的交互，让其辅助我进行代码编写

+-------------------+
| C++ 控制节点 |
| (自主起飞/降落) |
+---------+---------+
|
ROS Topic
|
+------v------+
| MAVROS |
+------ +-----+
|
MAVLink
|
+------v------+
| PX4 |
| 飞控 SITL |
+------+------+
|
仿真物理接口
|
+------v------+
| Gazebo |
| 无人机模型 |
+-------------+

任务顺序：

PX4 仿真启动
Gazebo 中生成无人机
ROS 与 PX4 通信
查看无人机状态
C++ 发布控制指令
自动解锁
自动起飞
定点悬停
自动降落

一、环境配置

使用vmware虚拟机进行操作，系统为ubuntu20.04版本，确保 VMware 能顺利运行 PX4 + Gazebo + ROS，检查 MAVROS 通信是否稳定，创建新的工作空间来存放新的包

二、ROS与MAVROS通信

（1）启动PX4 SITL

cd ~/PX4-Autopilot
make px4_sitl gazebo

(2) 启动MAVROS

source /opt/ros/noetic/setup.bash

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

正常情况下你会看到：

类似：

FCU: connected

这表示：

ROS 已经成功接管 PX4

rostopic echo /mavros/state

如果成功，你会看到类似：

connected: True armed: False guided: True mode: "AUTO.LOITER"

三、编写节点通信代码

cd ~/catkin_ws/src

catkin_create_pkg offboard_pkg roscpp std_msgs geometry_msgs mavros_msgs

打开vscode,在offboard_pkg包下的src文件夹创建offboard_node.cpp

#include <ros/ros.h> #include <geometry_msgs/PoseStamped.h> #include <mavros_msgs/State.h> #include <mavros_msgs/CommandBool.h> #include <mavros_msgs/SetMode.h> mavros_msgs::State current_state; void state_cb(const mavros_msgs::State::ConstPtr& msg) { current_state = *msg; } int main(int argc, char **argv) { ros::init(argc, argv, "offboard_node"); ros::NodeHandle nh; ros::Subscriber state_sub = nh.subscribe<mavros_msgs::State> ("/mavros/state", 10, state_cb); ros::Publisher local_pos_pub = nh.advertise<geometry_msgs::PoseStamped> ("/mavros/setpoint_position/local", 10); ros::ServiceClient arming_client = nh.serviceClient<mavros_msgs::CommandBool> ("/mavros/cmd/arming"); ros::ServiceClient set_mode_client = nh.serviceClient<mavros_msgs::SetMode> ("/mavros/set_mode"); ros::Rate rate(20.0); while(ros::ok() && !current_state.connected) { ros::spinOnce(); rate.sleep(); } geometry_msgs::PoseStamped pose; pose.pose.position.x = 0; pose.pose.position.y = 0; pose.pose.position.z = 2; for(int i = 100; ros::ok() && i > 0; --i) { local_pos_pub.publish(pose); ros::spinOnce(); rate.sleep(); } mavros_msgs::SetMode offb_set_mode; offb_set_mode.request.custom_mode = "OFFBOARD"; mavros_msgs::CommandBool arm_cmd; arm_cmd.request.value = true; ros::Time last_request = ros::Time::now(); while(ros::ok()) { if(current_state.mode != "OFFBOARD" && (ros::Time::now() - last_request > ros::Duration(5.0))) { if(set_mode_client.call(offb_set_mode) && offb_set_mode.response.mode_sent) { ROS_INFO("OFFBOARD enabled"); } last_request = ros::Time::now(); } else { if(!current_state.armed && (ros::Time::now() - last_request > ros::Duration(5.0))) { if(arming_client.call(arm_cmd) && arm_cmd.response.success) { ROS_INFO("Vehicle armed"); } last_request = ros::Time::now(); } } local_pos_pub.publish(pose); ros::spinOnce(); rate.sleep(); } return 0; }

顺便修改Cmakelist.txt文件

add_executable(offboard_node src/offboard_node.cpp)

target_link_libraries(offboard_node
${catkin_LIBRARIES}
)

ctrl+s保存，catkin_make进行编译

四、运行

cd ~/PX4-Autopilot
make px4_sitl gazebo

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

source ~/catkin_ws/devel/setup.bash

rosrun offboard_pkg offboard_node

你会看到：