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New Crowdin translations - uk (#26552)
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@@ -36,9 +36,9 @@ To use the [ROS 2](../ros2/user_guide.md) over XRCE-DDS effectively, you must (a
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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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- [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md): A C++ library that simplifies interacting with PX4 from ROS 2.
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Can be used to create and register flight modes written 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 communication between PX4 and ROS 2 applications that were compiled with different sets of messages versions.
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## Подальша інформація
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@@ -143,7 +143,7 @@ After 10 cycles `publish_vehicle_command()` is called to change to offboard mode
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The implementations of the `publish_offboard_control_mode()` and `publish_trajectory_setpoint()` methods are shown below.
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These publish the [OffboardControlMode](../msg_docs/OffboardControlMode.md) and [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) messages to PX4 (respectively).
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The `OffboardControlMode` is required in order to inform PX4 of the _type_ of offboard control behing used.
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The `OffboardControlMode` is required in order to inform PX4 of the _type_ of offboard control being used.
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Here we're only using _position control_, so the `position` field is set to `true` and all the other fields are set to `false`.
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```cpp
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@@ -7,6 +7,10 @@
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На момент написання цієї статті, деякі частини бібліотеки інтерфейсу PX4 ROS 2 є експериментальними і, отже, можуть бути змінені.
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:::
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:::info
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When using `rmw_zenoh`, the PX4 ROS 2 Interface Library requires ROS 2 Jazzy or later, and is not compatible with ROS 2 Humble or earlier.
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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 (with Python bindings) that simplifies controlling and interacting with PX4 from ROS 2.
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The library provides three high-level interfaces for developers:
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@@ -105,7 +105,7 @@ For example, the following implements a minimal subscriber and publisher node th
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#include <px4_msgs/msg/vehicle_attitude.hpp>
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// Template function to get the message version suffix
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// The correct message version is directly inferred from the message defintion
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// The correct message version is directly inferred from the message definition
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template <typename T>
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std::string getMessageNameVersion() {
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if (T::MESSAGE_VERSION == 0) return "";
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@@ -104,7 +104,7 @@
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Для надсилання вимірювання позиції ви заповнюєте структуру позиції з виміряними значеннями.
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Потім викликаєте функцію оновлення інтерфейсу з цією структурою як аргументом.
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Для базового прикладу, як користуватися цим інтерфейсом, ознайомтеся з [examples](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/cpp/navigation) в `Auterion/px4-rosface-lib` репозиторію, наприклад [examples/cpp/navigation/local_navigation](https://github.com/Auterion/px4-ros2-interface-lib/b/main/examples/cpp/navigation/local_navigation/inclation/inclde/local_localation.hppation.hpp) або examples/cpps/cppation/globation](https://github.com/Auter/intertere-face-face-face-facb/mainb/mppation/mppation/example/example/navigation/navigation/navigation/navig/navigation/navigation/navig/navig/navig/navighblob/navig
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For a basic example of how to use this interface, check out the [examples](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/cpp/navigation) in the `Auterion/px4-ros2-interface-lib` repository, such as [examples/cpp/navigation/local_navigation](https://github.com/Auterion/px4-ros2-interface-lib/blob/main/examples/cpp/navigation/local_navigation/include/local_navigation.hpp) or [examples/cpp/navigation/global_navigation](https://github.com/Auterion/px4-ros2-interface-lib/blob/main/examples/cpp/navigation/global_navigation/include/global_navigation.hpp).
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### Оновлення локальної позиції
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@@ -223,7 +223,7 @@ private:
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###
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Спочатку переконайтеся, що параметр PX4 [`EKF2_EV_CTRL`](../advanced_config/parameter_reference.md#EKF2_EV_CTRL) налаштований належним чином для ефективного використання зовнішніх локальних вимірів, встановивши відповідні біти в `true`:
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First ensure that the PX4 [`EKF2_AGP_CTRLn`](../advanced_config/parameter_reference.md#EKF2_AGP0_CTRL) parameters are properly configured to fuse external global measurements, by setting the appropriate bits to `true`:
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- 0: Дані горизонтальної позиції
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- 1: Дані вертикальної позиції
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@@ -9,7 +9,7 @@ From PX4 v1.14, ROS 2 uses [uXRCE-DDS](../middleware/uxrce_dds.md) middleware, r
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The [migration guide](../middleware/uxrce_dds.md#fast-rtps-to-uxrce-dds-migration-guidelines) explains what you need to do in order to migrate ROS 2 apps from PX4 v1.13 to PX4 v1.14.
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If you're still working on PX4 v1.13, please follow the instructions in the [PX4 v1.13 Docs](https://docs.px4.io/v1.13/en/ros/ros2_comm.html).
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If you're still working on PX4 v1.13, please follow the instructions in the [PX4 v1.13 Docs](https://docs.px4.io/v1.13/en/ros/ros2_comm).
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<!-- remove this when there are PX4 v1.14 docs for some months -->
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@@ -137,7 +137,7 @@ To install ROS 2 and its dependencies:
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2. Some Python dependencies must also be installed (using **`pip`** or **`apt`**):
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```sh
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pip install --user -U empy==3.3.4 pyros-genmsg setuptools
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pip install --user -U empty==3.3.4 pyros-genmsg setuptools
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```
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### Setup Micro XRCE-DDS Agent & Client
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