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New Crowdin translations - zh-CN (#24563)

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docs/zh/ros2/px4_ros2_control_interface.md
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@@ -108,92 +108,92 @@ 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
source install/setup.bash
```
```sh
cd ..
colcon build
source install/setup.bash
```
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. Run the micro XRCE agent in a new shell (you can keep it running afterward):
```sh
MicroXRCEAgent udp4 -p 8888
```
```sh
MicroXRCEAgent udp4 -p 8888
```
6. Start QGroundControl.
::: info
Use QGroundControl Daily, which supports dynamically updating the list of modes.
::: info
Use QGroundControl Daily, which supports dynamically updating the list of modes.
:::
7. Back in the ROS 2 terminal, run one of the example modes:
```sh
ros2 run example_mode_manual_cpp example_mode_manual
```
```sh
ros2 run example_mode_manual_cpp example_mode_manual
```
You should get an output like this showing 'My Manual Mode' mode being registered:
You should get an output like this showing 'My Manual Mode' mode being registered:
```sh
[DEBUG] [example_mode_manual]: Checking message compatibility...
[DEBUG] [example_mode_manual]: Subscriber found, continuing
[DEBUG] [example_mode_manual]: Publisher found, continuing
[DEBUG] [example_mode_manual]: Registering 'My Manual Mode' (arming check: 1, mode: 1, mode executor: 0)
[DEBUG] [example_mode_manual]: Subscriber found, continuing
[DEBUG] [example_mode_manual]: Publisher found, continuing
[DEBUG] [example_mode_manual]: Got RegisterExtComponentReply
[DEBUG] [example_mode_manual]: Arming check request (id=1, only printed once)
```
```sh
[DEBUG] [example_mode_manual]: Checking message compatibility...
[DEBUG] [example_mode_manual]: Subscriber found, continuing
[DEBUG] [example_mode_manual]: Publisher found, continuing
[DEBUG] [example_mode_manual]: Registering 'My Manual Mode' (arming check: 1, mode: 1, mode executor: 0)
[DEBUG] [example_mode_manual]: Subscriber found, continuing
[DEBUG] [example_mode_manual]: Publisher found, continuing
[DEBUG] [example_mode_manual]: Got RegisterExtComponentReply
[DEBUG] [example_mode_manual]: Arming check request (id=1, only printed once)
```
8. On the PX4 shell, you can check that PX4 registered the new mode:
```sh
commander status
```
```sh
commander status
```
The output should contain:
The output should contain:
```plain
INFO [commander] Disarmed
INFO [commander] navigation mode: Position
INFO [commander] user intended navigation mode: Position
INFO [commander] in failsafe: no
INFO [commander] External Mode 1: nav_state: 23, name: My Manual Mode
```
```plain
INFO [commander] Disarmed
INFO [commander] navigation mode: Position
INFO [commander] user intended navigation mode: Position
INFO [commander] in failsafe: no
INFO [commander] External Mode 1: nav_state: 23, name: My Manual Mode
```
9. At this point you should be able to see the mode in QGroundControl as well:
![QGC Modes](../../assets/middleware/ros2/px4_ros2_interface_lib/qgc_modes.png)
![QGC Modes](../../assets/middleware/ros2/px4_ros2_interface_lib/qgc_modes.png)
10. Select the mode, make sure you have a manual control source (physical or virtual joystick), and arm the vehicle.
The mode will then activate, and it should print the following output:
The mode will then activate, and it should print the following output:
```sh
[DEBUG] [example_mode_manual]: Mode 'My Manual Mode' activated
```
```sh
[DEBUG] [example_mode_manual]: Mode 'My Manual Mode' activated
```
11. Now you are ready to create your own mode.
@@ -422,7 +422,7 @@ If you want to control an independent actuator (a servo), follow these steps:
1. [Configure the output](../payloads/generic_actuator_control.md#generic-actuator-control-with-mavlink)
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.
3. Call the `set()` method to control the actuator(s).
This can be done independently of any active setpoints.
This can be done independently of any active setpoints.
### Telemetry