[px4仿真]单独启动编译和Gazebo仿真器

来源：互联网发布：团购网站淘宝折扣编辑：程序博客网时间：2024/05/21 10:47

This article shows how to starting Gazebo and PX4 separately
按照官方教程并没有成功。中文教程和英文教程都有错误，应该如下

cd src/Firmwaremake posix_sitl_defaultsource ~/catkin_ws/devel/setup.bash    // (只有mavros是用源码编译的才需要)source Tools/setup_gazebo.bash $(pwd) $(pwd)/build_posix_sitl_defaultexport ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazeboroslaunch px4 mavros_posix_sitl.launch

如此还是有问题，运行offb offb_node会显示
MODE: Unsupported FCU
折腾了好久才解决问题
需要打开src/Firmware/launch/mavros_posix_sitl.launch（如需使用其他launch文件修改方法类似）
将这一行:

<arg name="fcu_url" default="udp://:14540@localhost:14557"/>

改成:

<arg name="fcu_url" default="udp://:14540@127.0.0.1:14557"/>

参考资料：https://discuss.ardupilot.org/t/problem-calling-ros-service-for-arducopter-ros-sitl-tutorial/18992

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