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New Crowdin translations - zh-CN (#26553)
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@@ -36,9 +36,9 @@ ROS 2 也可以使用 [MAVROS](https://github.com/mavlink/mavros/tree/ros2/mavro
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- [ROS 2 用户指南](../ros2/user_guide.md): 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 离板控制实例](../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 多载具模拟](../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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- [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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## 更多信息
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@@ -143,7 +143,7 @@ OffboardControlMode消息会持续发送，以便 PX4 切换到离板模式后
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publish_offboard_control_mode() 和 publish_trajectory_setpoint() 这两个方法的实现代码如下所示。
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这些方法会分别发布到 PX4 的 [OffboardControlMode](../msg_docs/OffboardControlMode.md和 [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) 消息。
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OffboardControlMode（离板控制模式）消息是必需的，其作用是告知 PX4 当前所使用的离板控制类型。
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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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此处我们仅使用位置控制，因此将 `position` 字段设为`true`，而所有其他字段均设为 `false`。
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```cpp
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@@ -7,6 +7,10 @@ Experimental
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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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:::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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该库为开发者提供了两个高级接口。
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@@ -100,14 +100,14 @@
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:::tab C++
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```c++
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#include <0>
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#include <1>
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#include <2>
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#include <3>
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#include <string>
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#include <rclcpp/rclcpp.hpp>
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#include <px4_msgs/msg/vehicle_command.hpp>
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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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template <4>
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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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return "_v" + std::to_string(T::MESSAGE_VERSION);
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@@ -117,13 +117,13 @@ class MinimalPubSub : public rclcpp::Node {
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public:
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MinimalPubSub() : Node("minimal_pub_sub") {
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// Use template function to define the correct topics automatically
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const std::string sub_topic = "/fmu/out/vehicle_attitude" + getMessageNameVersion<5>();
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const std::string pub_topic = "/fmu/in/vehicle_command" + getMessageNameVersion<6>();
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const std::string sub_topic = "/fmu/out/vehicle_attitude" + getMessageNameVersion<px4_msgs::msg::VehicleAttitude>();
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const std::string pub_topic = "/fmu/in/vehicle_command" + getMessageNameVersion<px4_msgs::msg::VehicleCommand>();
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_subscription = this->create_subscription<5>(
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_subscription = this->create_subscription<px4_msgs::msg::VehicleAttitude>(
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sub_topic, 10,
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std::bind(&MinimalPubSub::attitude_callback, this, std::placeholders::_1));
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_publisher = this->create_publisher<6>(pub_topic, 10);
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_publisher = this->create_publisher<px4_msgs::msg::VehicleCommand>(pub_topic, 10);
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}
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private:
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@@ -131,8 +131,8 @@ class MinimalPubSub : public rclcpp::Node {
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RCLCPP_INFO(this->get_logger(), "Received attitude message.");
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}
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rclcpp::Publisher<6>::SharedPtr _publisher;
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rclcpp::Subscription<5>::SharedPtr _subscription;
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rclcpp::Publisher<px4_msgs::msg::VehicleCommand>::SharedPtr _publisher;
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rclcpp::Subscription<px4_msgs::msg::VehicleAttitude>::SharedPtr _subscription;
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};
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```
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@@ -104,7 +104,7 @@ Experimental
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要发送位置测量数据，你需要用所测量的值填充位置结构体。
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然后以此结构调用接口的更新功能作为参数。
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关于如何使用此接口的基本示例，请在“Auterion/px4-ros2-interface-lib”仓库中查看 [examples](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/cpp/navigation) 例如[示例/cpp/navigation/local_navigation](https://github.com/Auterion/px4-ros2-interface-lib/blob/main/examples/cpp/navigation/local_navigation/include/local_navigation.hpp)或[示例/cpp/navigation/global_navigation](https://github.com/Auterion/px4-ros2-interface-lib/blob/main/examples/cpp/navigation/local_navigation/include/global_navigation.hpp)。
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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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### 局部位置更新
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@@ -223,7 +223,7 @@ private:
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### 全局位置更新
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首先确保正确配置 PX4 参数[`EKF2_EV_CTRL`](../advanced_config/parameter_reference.md#EKF2_AGP_CTRL)通过将相应的位设置为true，可以正确配置（系统）以融合外部全部测量数据：
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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`: 水平位置数据
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- `1`：垂直位置数据
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@@ -9,7 +9,7 @@ ROS 2-PX4 架构在ROS 2和PX4之间进行了深度整合。 允许 ROS 2 订阅
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[migration guide](../middleware/uxrce_dds.md#fast-rtps-to-uxrce-dds-migration-guidelines) 解释您需要做什么来将ROS2 应用程序从 PX4 v1.13 迁移到 PX4 v1.14。
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如果您仍然在 PX4 v1.13 上工作，请按照[PX4 v1.13 Docs](https://docs.px4.io/v1.13/en/ros/ros2_comm.html)中的说明操作。
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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 @@ make px4_sitl
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2. 一些Python 依赖关系也必须安装 (使用 **`pip`** 或 **`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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### 配置微型 XRCE-DDS 代理与客户端
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