【AirSim+PX4】WSL2上运行PX4连接Airsim步骤
WSL
Issues found on WSL
项目地址:https://gitcode.com/gh_mirrors/ws/WSL
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1.打开ubuntu终端
2.进入到 PX4-Autopilot 文件夹
cd PX4
cd PX4-Autopilot
3.修改AirSim里settings文件
将无人机的飞行模式改为PX4模式,代码如下:
{
"SettingsVersion": 1.2,
"SimMode": "Multirotor",
"ClockType": "SteppableClock",
"SubWindows": [
{
"WindowID": 0,
"CameraName": "front_center_custom",
"ImageType": 0,
"Visible": true,
"ImageSize": [ 480, 270 ],
"CameraPosition": [ 0.0, 0.0, -2.5 ],
"CameraRotation": [ 0.0, 0.0, 0.0 ]
},
{
"WindowID": 1,
"CameraName": "front_center_custom",
"ImageType": 3,
"Visible": true,
"ImageSize": [ 480, 270 ],
"CameraPosition": [ 0.0, 0.0, -2.5 ],
"CameraRotation": [ 0.0, 0.0, 0.0 ]
},
{
"WindowID": 2,
"CameraName": "front_center_custom",
"ImageType": 5,
"Visible": true,
"ImageSize": [ 480, 270 ],
"CameraPosition": [ 0.0, 0.0, -2.5 ],
"CameraRotation": [ 0.0, 0.0, 0.0 ]
}
],
"Vehicles": {
"Drone": {
"VehicleType": "PX4Multirotor",
"UseSerial": false,
"LockStep": true,
"UseTcp": true,
"TcpPort": 4560,
"ControlIp": "172.18.105.223",
"ControlPortLocal": 14540,
"ControlPortRemote": 14580,
"LocalHostIp": "172.18.96.1",
"Sensors": {
"Barometer": {
"SensorType": 1,
"Enabled": true,
"PressureFactorSigma": 0.001825,
"PressureFactorTau": 3600,
"UncorrelatedNoiseSigma": 2.7,
"UpdateLatency": 0,
"UpdateFrequency": 50,
"StartupDelay": 0
},
"Imu": {
"SensorType": 2,
"Enabled": true,
"AngularRandomWalk": 0.3,
"GyroBiasStabilityTau": 500,
"GyroBiasStability": 4.6,
"VelocityRandomWalk": 0.24,
"AccelBiasStabilityTau": 800,
"AccelBiasStability": 36
},
"Magnetometer": {
"SensorType": 4,
"Enabled": true,
"NoiseSigma": 0.005,
"ScaleFactor": 1,
"NoiseBias": 0,
"UpdateLatency": 0,
"UpdateFrequency": 50,
"StartupDelay": 0
},
"LidarSensor1": {
"SensorType": 6,
"Enabled": true,
"NumberOfChannels": 16,
"RotationsPerSecond": 10,
"PointsPerSecond": 100000,
"X": 0,
"Y": 0,
"Z": -1,
"Roll": 0,
"Pitch": 0,
"Yaw": 0,
"VerticalFOVUpper": -15,
"VerticalFOVLower": -25,
"HorizontalFOVStart": -20,
"HorizontalFOVEnd": 20,
"DrawDebugPoints": true,
"DataFrame": "SensorLocalFrame"
},
"Distance": {
"SensorType": 5,
"Enabled": true,
"Yaw": 0,
"Pitch": -90,
"Roll": 0
}
}
},
"Parameters": {
"NAV_RCL_ACT": 0,
"NAV_DLL_ACT": 0,
"COM_OBL_ACT": 1,
"LPE_LAT": 47.641468,
"LPE_LON": -122.140165
}
}
}
}
4.设置环境变量
在 Linux 命令行中输入以下命令以添加(或改变)环境变量 。注意,此处的 IP 地址应为主机 IP(LocalHostIp)
export PX4_SIM_HOST_ADDR=172.18.96.1
5.启动 sln 文件的调试以进入 UE4 编辑器,并在 Linux 中启动 PX4
make px4_sitl_default none_iris
就可以啦~
最后记得关防火墙!!!
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