实验一：基于Ubuntu系统实现无人机自主飞行

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
#此处使用国内的ROS镜像源(注释)
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get update
sudo apt-get install ros-melodic-desktop-full
sudo rosdep init
rosdep update
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt install python-rosinstall python-catkin-tools python-rosinstall-generator python-wstool build-essential
 
# install ros-gazebo plugins(注释)
sudo apt install ros-melodic-gazebo-*

 注意：

          (1) sudo rosdep init出现如下情况时(出现了网络问题)：

           执行如下操作：

输入以下代码：
sudo gedit /etc/hosts；
将下面一行代码添加到打开的文本文档中：
151.101.84.133 raw.githubusercontent.com

            (2) rosdep update报错(网络问题)时，执行如下操作：

将群里发送的rosdep压缩包解压，并复制到home/.ros文件夹下，.ros文件夹是一个隐藏文件，通过ctrl+h调出。

roscore

... logging to /home/.ros/log/6a1b2330-2eb3-11e9-a39c-9cb6d0e498fb/roslaunch-gishr-XPS-15-9560-4452.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
 
started roslaunch server http://XPS-15:44361/
ros_comm version 1.12.14
 
 
SUMMARY
========
 
PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.12.14
NODES
 
auto-starting new master
process[master]: started with pid [4463]
ROS_MASTER_URI=http://XPS-15:11311/
 
setting /run_id to 6a1b2330-2eb3-11e9-a39c-*********
process[rosout-1]: started with pid [4476]
started core service [/rosout

mkdir -p ~/catkin_ws/src

# 你可以使用下列任何一种方法(注释)
 
 
# 方法 1(注释)
sudo apt-get install ros-melodic-mavros ros-melodic-mavros-extras
 
# 安装geographic lib :(注释)
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
sudo chmod a+x install_geographiclib_datasets.sh
sudo ./install_geographiclib_datasets.sh
 
# 方法1(注释)
 
 
 
# 方法 2(注释)
cd ~/catkin_ws
catkin init && wstool init src
rosinstall_generator --rosdistro melodic mavlink | tee /tmp/mavros.rosinstall
rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall
wstool merge -t src /tmp/mavros.rosinstall
wstool update -t src -j4
rosdep install --from-paths src --ignore-src -y
 
# 安装geographic lib :(注释)
sudo ./src/mavros/mavros/scripts/install_geographiclib_datasets.sh
sudo apt install ros-melodic-catkin python-catkin-tools
catkin build
# 方法 2(注释)

cd ~/catkin_ws/src
 
# 请保证网络连接正常，此步骤耗时较长，必要时需要挂加速器，实验提供加速器pigcha，账号密码会在群里发布，但由于同时只能在线两个账户，同学们也可以采用自己熟悉的加速器，或合理选择使用加速器时间(注释)
git clone https://github.com/PX4/Firmware.git
cd Firmware
git checkout v1.8.0
make posix_sitl_default gazebo

# Use your favorite editor, we will be using gedit(注释)
# NOTE: you will need to use ROOT to edit bashrc(注释)
sudo gedit ~/.bashrc
 
# 在bashrc中，拷贝以下内容到bashrc尾端(注释)
source ~/catkin_ws/src/Firmware/Tools/setup_gazebo.bash ~/catkin_ws/src/Firmware/ ~/catkin_ws/src/Firmware/build/posix_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/catkin_ws/src/Firmware
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/catkin_ws/src/Firmware/Tools/sitl_gazebo

roslaunch px4 mavros_posix_sitl.launch

rostopic echo /mavros/state

header: 
  seq: 1
  stamp: 
    secs: 730
    nsecs: 280000000
  frame_id: ''
connected: True
armed: False
guided: False
mode: "MANUAL"
system_status: 3
---

# 请保证网络连接正常，此步骤耗时较长，必要时需要挂加速器，实验提供加速器pigcha，账号密码会在群里发布，但由于同时只能在线两个账户，同学们也可以采用自己熟悉的加速器，或合理选择使用加速器时间(注释)
git clone https://github.com/generalized-intelligence/GAAS.git

echo "export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:~/GAAS/deprecated/simulator/models" >> ~/.bashrc

cp -r ~/GAAS/deprecated/simulator/models/* ~/catkin_ws/src/Firmware/Tools/sitl_gazebo/models/
cp -r ~/GAAS/deprecated/simulator/worlds/* ~/catkin_ws/src/Firmware/Tools/sitl_gazebo/worlds/
cp -r ~/GAAS/deprecated/simulator/posix-config/* ~/catkin_ws/src/Firmware/posix-configs/SITL/init/ekf2/

roslaunch px4 mavros_posix_sitl.launch

rostopic echo /mavros/state

cd ~/GAAS/deprecated/demo/tutorial_1/1_px4_mavros_offboard_controller
python px4_mavros_run.py

cd ~/GAAS/deprecated/demo/tutorial_1/1_px4_mavros_offboard_controller
python commander.py