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New Crowdin translations - zh-CN (#24563)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
This commit is contained in:
PX4 Build Bot
co-authored by
Crowdin Bot
Crowdin Bot
parent
bd0a59eb1f
commit
d04e6695ac
@@ -37,63 +37,63 @@ This is needed because, by default, you cannot arm a vehicle without a connectio
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2. 使用以下方法创建并切换至新的 colcon工作目录：
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```sh
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mkdir -p ~/ws_offboard_control/src/
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cd ~/ws_offboard_control/src/
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```
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```sh
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mkdir -p ~/ws_offboard_control/src/
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cd ~/ws_offboard_control/src/
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```
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3. Clone the [px4_msgs](https://github.com/PX4/px4_msgs) repo to the `/src` directory (this repo is needed in every ROS 2 PX4 workspace!):
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```sh
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git clone https://github.com/PX4/px4_msgs.git
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# checkout the matching release branch if not using PX4 main.
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```
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```sh
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git clone https://github.com/PX4/px4_msgs.git
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# checkout the matching release branch if not using PX4 main.
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```
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4. Clone the example repository [px4_ros_com](https://github.com/PX4/px4_ros_com) to the `/src` directory:
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```sh
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git clone https://github.com/PX4/px4_ros_com.git
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```
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```sh
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git clone https://github.com/PX4/px4_ros_com.git
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```
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5. Source the ROS 2 development environment into the current terminal and compile the workspace using `colcon`:
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:::: tabs
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:::: tabs
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::: tab humble
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::: tab humble
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```sh
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cd ..
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source /opt/ros/humble/setup.bash
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colcon build
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```
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```sh
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cd ..
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source /opt/ros/humble/setup.bash
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colcon build
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```
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:::
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::: tab foxy
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::: tab foxy
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```sh
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cd ..
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source /opt/ros/foxy/setup.bash
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colcon build
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```
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```sh
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cd ..
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source /opt/ros/foxy/setup.bash
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colcon build
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```
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:::
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::::
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::::
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6. Source the `local_setup.bash`:
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```sh
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source install/local_setup.bash
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```
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```sh
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source install/local_setup.bash
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```
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7. 启动例程。
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```
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ros2 run px4_ros_com offboard_control
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```
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```
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ros2 run px4_ros_com offboard_control
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```
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飞行器将解锁、起飞至5米并悬停等待（永久）。
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@@ -108,92 +108,92 @@ The following steps are required to get started:
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2. Clone the repository into the workspace:
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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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```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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::: 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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:::
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3. Build the workspace:
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```sh
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cd ..
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colcon build
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source install/setup.bash
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```
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```sh
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cd ..
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colcon build
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source install/setup.bash
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```
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4. In a different shell, start PX4 SITL:
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```sh
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cd $px4-autopilot
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make px4_sitl gazebo-classic
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```
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```sh
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cd $px4-autopilot
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make px4_sitl gazebo-classic
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```
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(here we use Gazebo-Classic, but you can use any model or simulator)
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(here we use Gazebo-Classic, but you can use any model or simulator)
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5. Run the micro XRCE agent in a new shell (you can keep it running afterward):
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```sh
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MicroXRCEAgent udp4 -p 8888
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```
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```sh
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MicroXRCEAgent udp4 -p 8888
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```
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6. Start QGroundControl.
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::: info
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Use QGroundControl Daily, which supports dynamically updating the list of modes.
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::: info
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Use QGroundControl Daily, which supports dynamically updating the list of modes.
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:::
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7. Back in the ROS 2 terminal, run one of the example modes:
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```sh
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ros2 run example_mode_manual_cpp example_mode_manual
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```
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```sh
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ros2 run example_mode_manual_cpp example_mode_manual
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```
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You should get an output like this showing 'My Manual Mode' mode being registered:
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You should get an output like this showing 'My Manual Mode' mode being registered:
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```sh
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[DEBUG] [example_mode_manual]: Checking message compatibility...
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[DEBUG] [example_mode_manual]: Subscriber found, continuing
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[DEBUG] [example_mode_manual]: Publisher found, continuing
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[DEBUG] [example_mode_manual]: Registering 'My Manual Mode' (arming check: 1, mode: 1, mode executor: 0)
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[DEBUG] [example_mode_manual]: Subscriber found, continuing
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[DEBUG] [example_mode_manual]: Publisher found, continuing
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[DEBUG] [example_mode_manual]: Got RegisterExtComponentReply
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[DEBUG] [example_mode_manual]: Arming check request (id=1, only printed once)
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```
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```sh
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[DEBUG] [example_mode_manual]: Checking message compatibility...
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[DEBUG] [example_mode_manual]: Subscriber found, continuing
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[DEBUG] [example_mode_manual]: Publisher found, continuing
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[DEBUG] [example_mode_manual]: Registering 'My Manual Mode' (arming check: 1, mode: 1, mode executor: 0)
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[DEBUG] [example_mode_manual]: Subscriber found, continuing
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[DEBUG] [example_mode_manual]: Publisher found, continuing
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[DEBUG] [example_mode_manual]: Got RegisterExtComponentReply
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[DEBUG] [example_mode_manual]: Arming check request (id=1, only printed once)
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```
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8. On the PX4 shell, you can check that PX4 registered the new mode:
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```sh
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commander status
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```
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```sh
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commander status
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```
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The output should contain:
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The output should contain:
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```plain
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INFO [commander] Disarmed
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INFO [commander] navigation mode: Position
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INFO [commander] user intended navigation mode: Position
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INFO [commander] in failsafe: no
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INFO [commander] External Mode 1: nav_state: 23, name: My Manual Mode
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```
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```plain
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INFO [commander] Disarmed
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INFO [commander] navigation mode: Position
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INFO [commander] user intended navigation mode: Position
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INFO [commander] in failsafe: no
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INFO [commander] External Mode 1: nav_state: 23, name: My Manual Mode
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```
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9. At this point you should be able to see the mode in QGroundControl as well:
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10. Select the mode, make sure you have a manual control source (physical or virtual joystick), and arm the vehicle.
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The mode will then activate, and it should print the following output:
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The mode will then activate, and it should print the following output:
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```sh
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[DEBUG] [example_mode_manual]: Mode 'My Manual Mode' activated
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```
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```sh
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[DEBUG] [example_mode_manual]: Mode 'My Manual Mode' activated
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```
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11. Now you are ready to create your own mode.
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@@ -422,7 +422,7 @@ If you want to control an independent actuator (a servo), follow these steps:
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1. [Configure the output](../payloads/generic_actuator_control.md#generic-actuator-control-with-mavlink)
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2. Create an instance of [px4_ros2::PeripheralActuatorControls](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1PeripheralActuatorControls.html) in the constructor of your mode.
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3. Call the `set()` method to control the actuator(s).
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This can be done independently of any active setpoints.
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This can be done independently of any active setpoints.
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### Telemetry
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@@ -27,36 +27,36 @@ The following steps describe how to install and run the translation node on your
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1. (Optional) Create a new ROS 2 workspace in which to build the message translation node and its dependencies:
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```sh
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mkdir -p /path/to/ros_ws/src
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```
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```sh
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mkdir -p /path/to/ros_ws/src
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```
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2. Run the following helper script to copy the message definitions and translation node into your ROS workspace directory.
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```sh
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cd /path/to/ros_ws
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/path/to/PX4-Autopilot/Tools/copy_to_ros_ws.sh .
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```
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```sh
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cd /path/to/ros_ws
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/path/to/PX4-Autopilot/Tools/copy_to_ros_ws.sh .
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```
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3. Build and source the workspace.
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```sh
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colcon build
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source /path/to/ros_ws/install/setup.bash
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```
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```sh
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colcon build
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source /path/to/ros_ws/install/setup.bash
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```
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4. Finally, run the translation node.
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```sh
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ros2 run translation_node translation_node_bin
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```
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```sh
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ros2 run translation_node translation_node_bin
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```
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You should see an output similar to:
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You should see an output similar to:
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```sh
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[INFO] [1734525720.729530513] [translation_node]: Registered pub/sub topics and versions:
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[INFO] [1734525720.729594413] [translation_node]: Registered services and versions:
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```
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```sh
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[INFO] [1734525720.729530513] [translation_node]: Registered pub/sub topics and versions:
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[INFO] [1734525720.729594413] [translation_node]: Registered services and versions:
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```
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With the translation node running, any simultaneously running ROS 2 application designed to communicate with PX4 can do so, as long as it uses message versions recognized by the node.
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The translation node will print a warning if it encounters an unknown topic version.
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@@ -295,111 +295,111 @@ The example describes the process of updating the `VehicleAttitude` message defi
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1. **Create an Archived Definition of the Current Versioned Message**
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Copy the versioned `.msg` topic message file (or `.srv` service message file) to `px4_msgs_old/msg/` (or `px4_msgs_old/srv/`), and append its message version to the file name.
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Copy the versioned `.msg` topic message file (or `.srv` service message file) to `px4_msgs_old/msg/` (or `px4_msgs_old/srv/`), and append its message version to the file name.
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For example:<br>
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Copy `msg/versioned/VehicleAttitude.msg` → `msg/versioned/px4_msgs_old/msg/VehicleAttitudeV3.msg`
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For example:<br>
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Copy `msg/versioned/VehicleAttitude.msg` → `msg/versioned/px4_msgs_old/msg/VehicleAttitudeV3.msg`
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2. **Update Translation References to the Archived Definition**
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Update the existing translations header files `msg/translation_node/translations/*.h` to reference the newly archived message definition.
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Update the existing translations header files `msg/translation_node/translations/*.h` to reference the newly archived message definition.
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For example, update references in those files:<br>
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For example, update references in those files:<br>
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- Replace `px4_msgs::msg::VehicleAttitude` → `px4_msgs_old::msg::VehicleAttitudeV3`
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- Replace `#include <px4_msgs/msg/vehicle_attitude.hpp>` → `#include <px4_msgs_old/msg/vehicle_attitude_v3.hpp>`
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- Replace `px4_msgs::msg::VehicleAttitude` → `px4_msgs_old::msg::VehicleAttitudeV3`
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- Replace `#include <px4_msgs/msg/vehicle_attitude.hpp>` → `#include <px4_msgs_old/msg/vehicle_attitude_v3.hpp>`
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3. **Update the Versioned Definition**
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Update the versioned `.msg` topic message file (or `.srv` service message file) with required changes.
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Update the versioned `.msg` topic message file (or `.srv` service message file) with required changes.
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First increment the `MESSAGE_VERSION` field.
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Then update the message fields that prompted the version change.
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First increment the `MESSAGE_VERSION` field.
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Then update the message fields that prompted the version change.
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For example, update `msg/versioned/VehicleAttitude.msg` from:
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For example, update `msg/versioned/VehicleAttitude.msg` from:
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```.msg
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uint32 MESSAGE_VERSION = 3
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uint64 timestamp
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...
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```
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```txt
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uint32 MESSAGE_VERSION = 3
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uint64 timestamp
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...
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```
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to
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to
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```.msg
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uint32 MESSAGE_VERSION = 4 # Increment
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uint64 timestamp
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float32 new_field # Make definition changes
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...
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```
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```txt
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uint32 MESSAGE_VERSION = 4 # Increment
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uint64 timestamp
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float32 new_field # Make definition changes
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...
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```
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4. **Add a New Translation Header**
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Add a new version translation to bridge the archived version and the updated current version, by creating a new translation header.
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Add a new version translation to bridge the archived version and the updated current version, by creating a new translation header.
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For example, create a direct translation header `translation_node/translations/translation_vehicle_attitude_v4.h`:
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For example, create a direct translation header `translation_node/translations/translation_vehicle_attitude_v4.h`:
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```c++
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// Translate VehicleAttitude v3 <--> v4
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#include <px4_msgs_old/msg/vehicle_attitude_v3.hpp>
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#include <px4_msgs/msg/vehicle_attitude.hpp>
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```c++
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// Translate VehicleAttitude v3 <--> v4
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#include <px4_msgs_old/msg/vehicle_attitude_v3.hpp>
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#include <px4_msgs/msg/vehicle_attitude.hpp>
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class VehicleAttitudeV4Translation {
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public:
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using MessageOlder = px4_msgs_old::msg::VehicleAttitudeV3;
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static_assert(MessageOlder::MESSAGE_VERSION == 3);
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class VehicleAttitudeV4Translation {
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public:
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using MessageOlder = px4_msgs_old::msg::VehicleAttitudeV3;
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static_assert(MessageOlder::MESSAGE_VERSION == 3);
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using MessageNewer = px4_msgs::msg::VehicleAttitude;
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static_assert(MessageNewer::MESSAGE_VERSION == 4);
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using MessageNewer = px4_msgs::msg::VehicleAttitude;
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static_assert(MessageNewer::MESSAGE_VERSION == 4);
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static constexpr const char* kTopic = "fmu/out/vehicle_attitude";
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static constexpr const char* kTopic = "fmu/out/vehicle_attitude";
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static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
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msg_newer.timestamp = msg_older.timestamp;
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msg_newer.timestamp_sample = msg_older.timestamp_sample;
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msg_newer.q[0] = msg_older.q[0];
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msg_newer.q[1] = msg_older.q[1];
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msg_newer.q[2] = msg_older.q[2];
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msg_newer.q[3] = msg_older.q[3];
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msg_newer.delta_q_reset = msg_older.delta_q_reset;
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msg_newer.quat_reset_counter = msg_older.quat_reset_counter;
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static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
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msg_newer.timestamp = msg_older.timestamp;
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msg_newer.timestamp_sample = msg_older.timestamp_sample;
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msg_newer.q[0] = msg_older.q[0];
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msg_newer.q[1] = msg_older.q[1];
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msg_newer.q[2] = msg_older.q[2];
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msg_newer.q[3] = msg_older.q[3];
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msg_newer.delta_q_reset = msg_older.delta_q_reset;
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msg_newer.quat_reset_counter = msg_older.quat_reset_counter;
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// Populate `new_field` with some value
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msg_newer.new_field = -1;
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}
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// Populate `new_field` with some value
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msg_newer.new_field = -1;
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}
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static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
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msg_older.timestamp = msg_newer.timestamp;
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msg_older.timestamp_sample = msg_newer.timestamp_sample;
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msg_older.q[0] = msg_newer.q[0];
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msg_older.q[1] = msg_newer.q[1];
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msg_older.q[2] = msg_newer.q[2];
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msg_older.q[3] = msg_newer.q[3];
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msg_older.delta_q_reset = msg_newer.delta_q_reset;
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msg_older.quat_reset_counter = msg_newer.quat_reset_counter;
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static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
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msg_older.timestamp = msg_newer.timestamp;
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msg_older.timestamp_sample = msg_newer.timestamp_sample;
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msg_older.q[0] = msg_newer.q[0];
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msg_older.q[1] = msg_newer.q[1];
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msg_older.q[2] = msg_newer.q[2];
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msg_older.q[3] = msg_newer.q[3];
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msg_older.delta_q_reset = msg_newer.delta_q_reset;
|
||||
msg_older.quat_reset_counter = msg_newer.quat_reset_counter;
|
||||
|
||||
// Discards `new_field` from MessageNewer
|
||||
}
|
||||
};
|
||||
// Discards `new_field` from MessageNewer
|
||||
}
|
||||
};
|
||||
|
||||
REGISTER_TOPIC_TRANSLATION_DIRECT(VehicleAttitudeV4Translation);
|
||||
```
|
||||
REGISTER_TOPIC_TRANSLATION_DIRECT(VehicleAttitudeV4Translation);
|
||||
```
|
||||
|
||||
Version translation templates are provided here:
|
||||
Version translation templates are provided here:
|
||||
|
||||
- [Direct Topic Message Translation Template](https://github.com/PX4/PX4-Autopilot/blob/main/msg/translation_node/translations/example_translation_direct_v1.h)
|
||||
- [Generic Topic Message Translation Template](https://github.com/PX4/PX4-Autopilot/blob/main/msg/translation_node/translations/example_translation_multi_v2.h)
|
||||
- [Direct Service Message Translation Template](https://github.com/PX4/PX4-Autopilot/blob/main/msg/translation_node/translations/example_translation_service_v1.h)
|
||||
- [Direct Topic Message Translation Template](https://github.com/PX4/PX4-Autopilot/blob/main/msg/translation_node/translations/example_translation_direct_v1.h)
|
||||
- [Generic Topic Message Translation Template](https://github.com/PX4/PX4-Autopilot/blob/main/msg/translation_node/translations/example_translation_multi_v2.h)
|
||||
- [Direct Service Message Translation Template](https://github.com/PX4/PX4-Autopilot/blob/main/msg/translation_node/translations/example_translation_service_v1.h)
|
||||
|
||||
5. **Include New Headers in `all_translations.h`**
|
||||
|
||||
Add all newly created headers to [`translations/all_translations.h`](https://github.com/PX4/PX4-Autopilot/blob/main/msg/translation_node/translations/all_translations.h) so that the translation node can find them.
|
||||
Add all newly created headers to [`translations/all_translations.h`](https://github.com/PX4/PX4-Autopilot/blob/main/msg/translation_node/translations/all_translations.h) so that the translation node can find them.
|
||||
|
||||
For example, append the following line to `all_translation.h`:
|
||||
For example, append the following line to `all_translation.h`:
|
||||
|
||||
```c++
|
||||
#include "translation_vehicle_attitude_v4.h"
|
||||
```
|
||||
```c++
|
||||
#include "translation_vehicle_attitude_v4.h"
|
||||
```
|
||||
|
||||
Note that in the example above and in most cases, step 4 only requires the developer to create a direct translation for the definition change.
|
||||
This is because the changes only involved a single message.
|
||||
|
||||
@@ -22,80 +22,80 @@ The following steps are required to get started:
|
||||
|
||||
2. Clone the repository into the workspace:
|
||||
|
||||
```sh
|
||||
cd $ros_workspace/src
|
||||
git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib
|
||||
```
|
||||
```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).
|
||||
::: 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).
|
||||
|
||||
:::
|
||||
|
||||
3. Build the workspace:
|
||||
|
||||
```sh
|
||||
cd ..
|
||||
colcon build
|
||||
```
|
||||
```sh
|
||||
cd ..
|
||||
colcon build
|
||||
```
|
||||
|
||||
4. In a different shell, start PX4 SITL:
|
||||
|
||||
```sh
|
||||
cd $px4-autopilot
|
||||
make px4_sitl gazebo-classic
|
||||
```
|
||||
```sh
|
||||
cd $px4-autopilot
|
||||
make px4_sitl gazebo-classic
|
||||
```
|
||||
|
||||
(here we use Gazebo-Classic, but you can use any model or simulator)
|
||||
(here we use Gazebo-Classic, but you can use any model or simulator)
|
||||
|
||||
5. In yet a different shell, run the micro XRCE agent (you can keep it running afterward):
|
||||
|
||||
```sh
|
||||
MicroXRCEAgent udp4 -p 8888
|
||||
```
|
||||
```sh
|
||||
MicroXRCEAgent udp4 -p 8888
|
||||
```
|
||||
|
||||
6. Back in the ROS 2 terminal, source the workspace you just built (in step 3) and run the [global_navigation](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/cpp/navigation/global_navigation) example, which periodically sends dummy global position updates:
|
||||
|
||||
```sh
|
||||
source install/setup.bash
|
||||
ros2 run example_global_navigation_cpp example_global_navigation
|
||||
```
|
||||
```sh
|
||||
source install/setup.bash
|
||||
ros2 run example_global_navigation_cpp example_global_navigation
|
||||
```
|
||||
|
||||
You should get an output like this showing that the global interface is successfully sending position updates:
|
||||
You should get an output like this showing that the global interface is successfully sending position updates:
|
||||
|
||||
```sh
|
||||
[INFO] [1702030701.836897756] [example_global_navigation_node]: example_global_navigation_node running!
|
||||
[DEBUG] [1702030702.837279784] [example_global_navigation_node]: Successfully sent position update to navigation interface.
|
||||
[DEBUG] [1702030703.837223884] [example_global_navigation_node]: Successfully sent position update to navigation interface.
|
||||
```
|
||||
```sh
|
||||
[INFO] [1702030701.836897756] [example_global_navigation_node]: example_global_navigation_node running!
|
||||
[DEBUG] [1702030702.837279784] [example_global_navigation_node]: Successfully sent position update to navigation interface.
|
||||
[DEBUG] [1702030703.837223884] [example_global_navigation_node]: Successfully sent position update to navigation interface.
|
||||
```
|
||||
|
||||
7. In the PX4 shell, you can check that PX4 receives global position updates:
|
||||
|
||||
```sh
|
||||
listener aux_global_position
|
||||
```
|
||||
```sh
|
||||
listener aux_global_position
|
||||
```
|
||||
|
||||
The output should look like:
|
||||
The output should look like:
|
||||
|
||||
```sh
|
||||
TOPIC: aux_global_position
|
||||
aux_global_position
|
||||
timestamp: 46916000 (0.528000 seconds ago)
|
||||
timestamp_sample: 46916000 (0 us before timestamp)
|
||||
lat: 12.343210
|
||||
lon: 23.454320
|
||||
alt: 12.40000
|
||||
alt_ellipsoid: 0.00000
|
||||
delta_alt: 0.00000
|
||||
eph: 0.31623
|
||||
epv: 0.44721
|
||||
terrain_alt: 0.00000
|
||||
lat_lon_reset_counter: 0
|
||||
alt_reset_counter: 0
|
||||
terrain_alt_valid: False
|
||||
dead_reckoning: False
|
||||
```
|
||||
```sh
|
||||
TOPIC: aux_global_position
|
||||
aux_global_position
|
||||
timestamp: 46916000 (0.528000 seconds ago)
|
||||
timestamp_sample: 46916000 (0 us before timestamp)
|
||||
lat: 12.343210
|
||||
lon: 23.454320
|
||||
alt: 12.40000
|
||||
alt_ellipsoid: 0.00000
|
||||
delta_alt: 0.00000
|
||||
eph: 0.31623
|
||||
epv: 0.44721
|
||||
terrain_alt: 0.00000
|
||||
lat_lon_reset_counter: 0
|
||||
alt_reset_counter: 0
|
||||
terrain_alt_valid: False
|
||||
dead_reckoning: False
|
||||
```
|
||||
|
||||
8. Now you are ready to use the navigation interface to send your own position updates.
|
||||
|
||||
|
||||
Reference in New Issue
Block a user