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# ROS 2
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[ROS 2](https://docs.ros.org/en/humble/#) is a powerful general purpose robotics library that can be used with the PX4 Autopilot to create powerful drone applications.
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ROS 2 是ROS (机器人操作系统)最新版本 ， 一个通用的机器人库，可以与 PX4 自驾仪一起创建强大的无人机应用。
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:::warning
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Tip
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The PX4 development team highly recommend that you use/migrate to this version of ROS!
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小提示
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PX4开发团队强烈建议您使用/迁移到此版本的 ROS！
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This is the newest version of [ROS](https://www.ros.org/) (Robot Operating System).
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It significantly improves on ROS "1", and in particular allows a much deeper and lower-latency integration with PX4.
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这是最新版本的 [ROS](https://www.ros.org/) (机器人操作系统)。
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它大大改进了外空军备竞赛“1”，尤其是允许与PX4更深、更低的延迟结合。
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:::
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ROS得益于一个活跃的生态系统，在这个生态系统里，开发者会解决常见的机器人问题，他们也有权使用为Linux编写的其他软件库。
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It can be used, for example, for [computer vision](../computer_vision/index.md) solutions.
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例如，它可以用于[计算机视图](../computer_vision/index.md)解决方案。
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ROS 2 enables a very deep integration with PX4, to the extent that you can create flight modes in ROS 2 that are indistinguisable from internal PX4 modes, and directly read from and write to internal uORB topics at high rate.
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It is recommended (in particular) for control and communication from a companion computer where low latency is important, when leveraging existing libraries from Linux, or when writing new high level flight modes.
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ROS 2能够非常深入地与 PX4 集成 只要你可以在交战规则2中创建无法与内部的 PX4 模式区分的飞行模式， 并以高费率直接读取内部uORB主题。
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建议（尤其是）从同伴计算机进行控制和通信，因为这种计算机的延迟率很低。 当利用来自Linux的现有库时，或在编写新的高层飞行模式时。
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Communication between ROS 2 and PX4 uses middleware that implements the [XRCE-DDS protocol](../middleware/uxrce_dds.md).
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This middleware exposes PX4 [uORB messages](../msg_docs/index.md) as ROS 2 messages and types, effectively allowing direct access to PX4 from ROS 2 workflows and nodes.
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ROS 2 和 PX4 之间的通信使用中间件实现[XRCE-DDS] (../middleware/uxrce_dds.md)。
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这个中间件将以 ROS 2 消息和类型显示 PX4 [uORB 消息](../msg_docs/index.md)， 有效地允许从 ROS 2 工作流和节点直接访问 PX4。
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中间件使用 uORB 消息定义生成代码来序列化和反序列化来处理PX4 的收发消息。
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These same message definitions are used in ROS 2 applications to allow the messages to be interpreted.
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在ROS 2 应用中使用相同的消息定义可直接进行解析。
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:::info
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ROS 2 can also connect with PX4 using [MAVROS](https://github.com/mavlink/mavros/tree/ros2/mavros) instead of XRCE-DDS.
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This option is supported by the MAVROS project (it is not documented here).
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ROS 2 也可以使用 [MAVROS](https://github.com/mavlink/mavros/tree/ros2/mavros而不是 XRCE-DDS连接到 PX4。
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这一备选办法得到了MAVROS项目的支持(此处没有记录)。
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:::
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To use the [ROS 2](../ros2/user_guide.md) over XRCE-DDS effectively, you must (at time of writing) have a reasonable understanding of the PX4 internal architecture and conventions, which differ from those used by ROS.
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在XRCE-DDS上有效使用[ROS2](../ros2/user_guide.md)。 (撰写本文时)你必须对PX4内部结构和公约有合理的理解，这些结构和公约不同于交战规则所用的内部结构和公约。
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我们计划近期提供ROS 2 API 以对 PX4 的特性进行封装，并举例说明它们的用途。
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## Topics
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本节的主要主题是：
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- [ROS 2 User Guide](../ros2/user_guide.md): A PX4-centric overview of ROS 2, covering installation, setup, and how to build ROS 2 applications that communicate with PX4.
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- [ROS 2 Offboard Control Example](../ros2/offboard_control.md): A C++ tutorial examples showing how to do position control in [offboard mode](../flight_modes/offboard.md) from a ROS 2 node.
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- [ROS 2 Multi Vehicle Simulation](../ros2/multi_vehicle.md): Instructions for connecting to multipole PX4 simulations via single ROS 2 agent.
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- [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md): A C++ library that simplies interacting with PX4 from ROS 2.
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Can be used to create and register flight modes wrtten using ROS2 and send position estimates from ROS2 applications such as a VIO system.
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- [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md): A ROS 2 message translation node that enables communcation between PX4 and ROS 2 applications that were compiled with different sets of messages versions.
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- ROS 2 用户指南: PX4 视角下的 ROS 2，包括安装、设置和如何构建与 PX4 通信的 ROS 2 应用。
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- [ROS 2 离板控制示例](../ros2/offboard_control.md)：一个 C++ 教程示例显示如何在 [离板模式] (../flight_modes/offboard.md) 中使用 ROS 2 节点进行位置控制。
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- [ROS 2 多车辆模拟](../ros2/multi_vehicle.md)：通过单独的ROS2 代理商连接到多极PX4 模拟的说明。
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- [PX4 ROS2 接口库](../ros2/px4_ros2_interface_lib.md)：一个C++ 库，它与ROS2的 PX4 交互。
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可以使用 ROS 2 创建和注册飞行模式，并从 ROS2 应用程序如VIO 系统发送位置估计数。
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- [ROS 2 消息翻译节点](../ros2/px4_ros2_msg_translation_node.md)：一个 ROS 2 消息翻译节点，它允许在 PX4 和 ROS 2 应用程序之间共享，这些应用程序被编译成不同的消息版本。
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## 更多信息
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- [XRCE-DDS (PX4-ROS 2/DDS Bridge)](../middleware/uxrce_dds.md): PX4 middleware for connecting to ROS 2.
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- [XRCE-DDS (PX4-ROS 2/DDS Bridge)](../middleware/uxrce_dds.md): PX4 使用中间件链接到 ROS 2。
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@@ -1,54 +1,54 @@
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# Multi-Vehicle Simulation with ROS 2
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# 使用 ROS 2 进行多车辆仿真
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[XRCE-DDS](../middleware/uxrce_dds.md) allows for multiple clients to be connected to the same agent over UDP.
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This is particular useful in simulation as only one agent needs to be started.
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[XRCE-DDS](../middleware/uxrce_dds.md) 支持多个客户端通过 UDP 协议连接到同一个代理。
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这在模拟中特别有用，因为只有一个代理需要启动。
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## Setup and Requirements
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## 设置和要求
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The only requirements are
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唯一的要求是
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- To be able to run [multi-vehicle simulation](../simulation/multi-vehicle-simulation.md) without ROS 2 with the desired simulator ([Gazebo](../sim_gazebo_gz/multi_vehicle_simulation.md), [Gazebo Classic](../sim_gazebo_classic/multi_vehicle_simulation.md#multiple-vehicle-with-gazebo-classic), [FlightGear](../sim_flightgear/multi_vehicle.md) and [JMAVSim](../sim_jmavsim/multi_vehicle.md)).
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- To be able to use [ROS 2](../ros2/user_guide.md) in a single vehicle simulation.
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- 能够在不依赖 ROS 2 的情况下，使用所需的仿真器([Gazebo](../sim_gazebo_gz/multi_vehicle_simulation.md), [Gazebo Classic](../sim_gazebo_classic/multi_vehicle_simulation.md#multiple-vehicle-with-gazebo-classic), [FlightGear](../sim_flightgear/multi_vehicle.md) 和 [JMAVSim](../sim_jmavsim/multi_vehicle.md))运行多车辆仿真[multi-vehicle simulation](../simulation/multi-vehicle-simulation.md)。
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- 能够在单车辆仿真中使用ROS 2（机器人操作系统 2）
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## Principle of Operation
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## 工作原理
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In simulation each PX4 instance receives a unique `px4_instance` number starting from `0`.
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This value is used to assign a unique value to [UXRCE_DDS_KEY](../advanced_config/parameter_reference.md#UXRCE_DDS_KEY):
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在仿真中，每个 PX4 实例都会获得一个唯一的px4_instance编号，编号从0开始。
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该值用于为 [UXRCE_DDS_KEY](../advanced_config/parameter_reference.md#UXRCE_DDS_KEY)分配一个唯一值：
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```sh
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param set UXRCE_DDS_KEY $((px4_instance+1))
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参数设置 UXRCE_DDS_KEY $(px4_instance+1))
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```
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:::info
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By doing so, `UXRCE_DDS_KEY` will always coincide with [MAV_SYS_ID](../advanced_config/parameter_reference.md#MAV_SYS_ID).
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通过这种方式，UXRCE_DDS_KEY 将始终与 [MAV_SYS_ID] 保持一致（../advanced_config/parameter_reference.md#MAV_SYS_ID）
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:::
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Moreover, when `px4_instance` is greater than zero, a unique ROS 2 [namespace prefix](../middleware/uxrce_dds.md#customizing-the-namespace) in the form `px4_$px4_instance` is added:
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此外，当 px4_instance 大于 0 时，会添加一个格式为 px4_$px4_instance 的唯一 ROS 2 命名空间前缀：
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```sh
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uxrce_dds_ns="-n px4_$px4_instance"
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```
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:::info
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The environment variable `PX4_UXRCE_DDS_NS`, if set, will override the namespace behavior described above.
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环境变量 PX4_UXRCE_DDS_NS 若已设置，将覆盖上文所述的命名空间行为。
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:::
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The first instance (`px4_instance=0`) does not have an additional namespace in order to be consistent with the default behavior of the `xrce-dds` client on a real vehicle.
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This mismatch can be fixed by manually using `PX4_UXRCE_DDS_NS` on the first instance or by starting adding vehicles from index `1` instead of `0` (this is the default behavior adopted by [sitl_multiple_run.sh](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/simulation/gazebo-classic/sitl_multiple_run.sh) for Gazebo Classic).
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第一个实例（px4_instance=0）没有额外的命名空间，此举是为了与真实载具上 xrce-dds 客户端的默认行为保持一致。
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这种不匹配可以通过手动使用 `PX4_UXRCE_DDS_NS` 来修复，或者通过从索引 `1` 中添加车辆而不是 `0` (这是Gazebo Classic的 [sitl_multiple_run.sh](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/simulation/gazebo-classic/sitl_multiple_run.sh) 的默认行为)。
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The default client configuration in simulation is summarized as follows:
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模拟中的默认客户端配置概述如下：
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| `PX4_UXRCE_DDS_NS` | `px4_instance` | `UXRCE_DDS_KEY` | client namespace |
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| `PX4_UXRCE_DDS_NS` | `px4_instance` | `UXRCE_DDS_KEY` | 客户端命名空间 |
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| ------------------ | -------------- | ---------------- | --------------------- |
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| not provided | 0 | `px4_instance+1` | 无 |
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| provided | 0 | `px4_instance+1` | `PX4_UXRCE_DDS_NS` |
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| not provided | > 0 | `px4_instance+1` | `px4_${px4_instance}` |
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| provided | > 0 | `px4_instance+1` | `PX4_UXRCE_DDS_NS` |
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| 未提供 | 0 | `px4_instance+1` | 无 |
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| 已提供 | 0 | `px4_instance+1` | `PX4_UXRCE_DDS_NS` |
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| 未提供 | > 0 | `px4_instance+1` | `px4_${px4_instance}` |
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| 已提供 | > 0 | `px4_instance+1` | `PX4_UXRCE_DDS_NS` |
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## Adjusting the `target_system` value
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## 调整 `target_system` 值
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PX4 accepts [VehicleCommand](../msg_docs/VehicleCommand.md) messages only if their `target_system` field is zero (broadcast communication) or coincides with `MAV_SYS_ID`.
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In all other situations, the messages are ignored.
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Therefore, when ROS 2 nodes want to send `VehicleCommand` to PX4, they must ensure that the messages are filled with the appropriate `target_system` value.
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PX4 只在他们的 `target_system` 字段为 0 (路由通信) 或与 `MAV_SYS_ID` 一致时，才接受 [VehicleCommand](../msg_docs/VehicleCommand.md)。
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在所有其他情况下，信息都被忽视。
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因此，当 ROS 2 节点需向 PX4 发送 VehicleCommand（载具指令）消息时，必须确保消息中填写了合适的 target_system（目标系统）字段值。
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For example, if you want to send a command to your third vehicle, which has `px4_instance=2`, you need to set `target_system=3` in all your `VehicleCommand` messages.
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@@ -1,6 +1,6 @@
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# ROS 2 Offboard 控制示例
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The following C++ example shows how to do position control in [offboard mode](../flight_modes/offboard.md) from a ROS 2 node.
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以下的 C++ 示例展示了如何在 [离板模式] (../flight_modes/offboard.md) 中从 ROS 2 节点进行位置控制。
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示例将首先发送设置点、进入offboard模式、解锁、起飞至5米，并悬停等待。
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虽然简单，但它显示了如何使用offboard控制以及如何向无人机发送指令。
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@@ -1,6 +1,6 @@
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# PX4 ROS 2 Control Interface
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<Badge type="tip" text="PX4 v1.15" /> <Badge type="warning" text="Experimental" />
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<0/> <1/>
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:::warning
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Experimental
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@@ -104,26 +104,26 @@ The above concepts provide a number of advantages over traditional [offboard con
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The following steps are required to get started:
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1. Make sure you have a working [ROS 2 setup](../ros2/user_guide.md), with [`px4_msgs`](https://github.com/PX4/px4_msgs) in the ROS 2 workspace.
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1. 请确保您在 ROS 2 工作区中有 [ROS 2 设置](../ros2/user_guide.md) 与 [`px4_msgs`](https://github.com/PX4/px4_msgs]。
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2. Clone the repository into the workspace:
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2. 将代码仓库克隆到工作空间中
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```sh
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cd $ros_workspace/src
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git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib
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```
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::: info
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To ensure compatibility, use the latest _main_ branches for PX4, _px4_msgs_ and the library.
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See also [here](https://github.com/Auterion/px4-ros2-interface-lib#compatibility-with-px4).
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提示信息
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为确保兼容性，请使用 PX4、px4_msgs（PX4 消息包）及该库的最新 main 分支。
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另请参阅 [here]（https://github.com/Auterion/px4-ros2-interface-lib#compatibility-with-px4）
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:::
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3. Build the workspace:
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3. 构建工作空间:
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```sh
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cd ..
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colcon build
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colcon building
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source install/setup.bash
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```
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@@ -1,48 +1,48 @@
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# PX4 ROS 2 Interface Library
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# PX4 ROS 2 接口库
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<Badge type="tip" text="PX4 v1.15" /> <Badge type="warning" text="Experimental" />
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<0/> <1/>
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:::warning
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Experimental
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At the time of writing, parts of the PX4 ROS 2 Interface Library are experimental, and hence subject to change.
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在撰写本文时，PX4 ROS 2 接口库的部分内容仍处于试验阶段，因此可能会发生变动。
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:::
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The [PX4 ROS 2 Interface Library](https://github.com/Auterion/px4-ros2-interface-lib) is a C++ library that simplifies controlling and interacting with PX4 from ROS 2.
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[PX4 ROS 2 接口库 ]（https://github.com/Auterion/px4-ros2-interface-lib）是一个 C++ 库，可简化从 ROS 2 对 PX4 进行控制和交互的操作。
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The library provides two high-level interfaces for developers:
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该库为开发者提供了两个高级接口。
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1. The [Control Interface](./px4_ros2_control_interface.md) allows developers to create and dynamically register modes written using ROS 2.
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It provides classes for sending different types of setpoints, ranging from high-level navigation tasks all the way down to direct actuator controls.
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2. The [Navigation Interface](./px4_ros2_navigation_interface.md) enables sending vehicle position estimates to PX4 from ROS 2 applications, such as a VIO system.
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1. [Control Interface](./px4_ros2_control_interface.md) 允许开发者创建并动态注册使用 ROS2 编写的模式。
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它为发送不同类型的设置点提供了课程，涵盖范围从高级导航任务一直到直接执行器控制。
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2. [导航界面](./px4_ros2_navigation_interface.md) 允许从ROS 2应用程序（如VIO系统）向PX4发送车辆位置估计数。
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<!--
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## Overview
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-->
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## Installation in a ROS 2 Workspace
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## 在 ROS 2 工作区中安装
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To get started using the library within an existing ROS 2 workspace:
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要开始使用现有ROS2工作空间内的库：
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1. Make sure you have a working [ROS 2 setup](../ros2/user_guide.md), with [`px4_msgs`](https://github.com/PX4/px4_msgs) in the ROS 2 workspace.
|
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1. 请确保您在 ROS 2 工作区中有 [ROS 2 设置](../ros2/user_guide.md) 与 [`px4_msgs`](https://github.com/PX4/px4_msgs]。
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2. Clone the repository into the workspace:
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2. 将代码仓库克隆到工作空间中
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```sh
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cd $ros_workspace/src
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git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib
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```
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::: info
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To ensure compatibility, use the latest _main_ branches for PX4, _px4_msgs_ and the library.
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See also [here](https://github.com/Auterion/px4-ros2-interface-lib#compatibility-with-px4).
|
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提示信息
|
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为确保兼容性，请使用 PX4、px4_msgs（PX4 消息包）及该库的最新 main 分支。
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另请参阅 [here]（https://github.com/Auterion/px4-ros2-interface-lib#compatibility-with-px4）
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:::
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3. Build the workspace:
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3. 构建工作空间:
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```sh
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cd ..
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colcon build
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colcon building
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source install/setup.bash
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||||
```
|
||||
|
||||
@@ -50,9 +50,9 @@ To get started using the library within an existing ROS 2 workspace:
|
||||
## How to Use the Library
|
||||
-->
|
||||
|
||||
## CI: Integration Tests
|
||||
## ROS集成测试
|
||||
|
||||
When opening a pull request to PX4, CI runs the library integration tests.
|
||||
These test that mode registration, failsafes, and mode replacement, work as expected.
|
||||
向 PX4 提交拉取请求（pull request）时，持续集成（CI）会运行该库的集成测试
|
||||
这些测试用于验证模式注册、故障保护（failsafes）和模式替换功能是否按预期工作。
|
||||
|
||||
For more information see [PX4 ROS2 Interface Library Integration Testing](../test_and_ci/integration_testing_px4_ros2_interface.md).
|
||||
欲了解更多信息，请访问[PX4 ROS2 接口库集成测试](../test_and_ci/integration_testing_px4_ros2_interface.md)。
|
||||
|
||||
@@ -65,7 +65,7 @@ The translation node will print a warning if it encounters an unknown topic vers
|
||||
After making a modification in PX4 to the message definitions and/or translation node code, you will need to rerun the steps above from point 2 to update your ROS workspace accordingly.
|
||||
:::
|
||||
|
||||
### In ROS Applications
|
||||
### 在ROS 应用中
|
||||
|
||||
While developing a ROS 2 application that communicates with PX4, it is not necessary to know the specific version of a message being used.
|
||||
The message version can be added generically to a topic name like this:
|
||||
@@ -183,7 +183,7 @@ class MinimalPubSub(Node):
|
||||
On the PX4 side, the DDS client automatically adds the version suffix if a message definition contains the field `uint32 MESSAGE_VERSION = x`.
|
||||
|
||||
:::info
|
||||
Version 0 of a topic means that no `_v<version>` suffix should be added.
|
||||
主题版本0意味着不应添加`_v<version>`后缀。
|
||||
:::
|
||||
|
||||
## Development
|
||||
|
||||
@@ -1,10 +1,10 @@
|
||||
# PX4 ROS 2 Navigation Interface
|
||||
# PX4 ROS2 导航接口
|
||||
|
||||
<Badge type="tip" text="PX4 v1.15" /> <Badge type="warning" text="Experimental" />
|
||||
<0/> <1/>
|
||||
|
||||
:::warning
|
||||
Experimental
|
||||
At the time of writing, parts of the PX4 ROS 2 Interface Library are experimental, and hence subject to change.
|
||||
在撰写本文时，PX4 ROS 2 接口库的部分内容仍处于试验阶段，因此可能会发生变动。
|
||||
:::
|
||||
|
||||
The [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) navigation interface enables developers to send their position measurements to PX4 directly from ROS 2 applications, such as a VIO system or a map matching system.
|
||||
@@ -18,22 +18,22 @@ The `update` method expects a position measurement `struct` ([`LocalPositionMeas
|
||||
|
||||
The following steps are required to get started:
|
||||
|
||||
1. Make sure you have a working [ROS 2 setup](../ros2/user_guide.md), with [`px4_msgs`](https://github.com/PX4/px4_msgs) in the ROS 2 workspace.
|
||||
1. 请确保您在 ROS 2 工作区中有 [ROS 2 设置](../ros2/user_guide.md) 与 [`px4_msgs`](https://github.com/PX4/px4_msgs]。
|
||||
|
||||
2. Clone the repository into the workspace:
|
||||
2. 将代码仓库克隆到工作空间中
|
||||
|
||||
```sh
|
||||
cd $ros_workspace/src
|
||||
git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib
|
||||
```
|
||||
|
||||
::: info
|
||||
To ensure compatibility, use the latest _main_ branches for PX4, _px4_msgs_ and the library.
|
||||
See also [here](https://github.com/Auterion/px4-ros2-interface-lib#compatibility-with-px4).
|
||||
提示信息
|
||||
为确保兼容性，请使用 PX4、px4_msgs（PX4 消息包）及该库的最新 main 分支。
|
||||
另请参阅 [here]（https://github.com/Auterion/px4-ros2-interface-lib#compatibility-with-px4）
|
||||
|
||||
:::
|
||||
|
||||
3. Build the workspace:
|
||||
3. 构建工作空间:
|
||||
|
||||
```sh
|
||||
cd ..
|
||||
|
||||
Reference in New Issue
Block a user