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docs/zh/ros2/px4_ros2_navigation_interface.md
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@@ -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.