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212 lines
6.6 KiB
Markdown
212 lines
6.6 KiB
Markdown
# Gazebo Vehicles
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This topic lists/displays the vehicles supported by the PX4 [Gazebo](../sim_gazebo_gz/index.md) simulation, and the `make` commands required to run them (the commands are run from a terminal in the **PX4-Autopilot** directory).
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The models are included in PX4 as a submodule that is fetched from the [Gazebo Models Repository](../sim_gazebo_gz/gazebo_models.md).
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Supported vehicle types include: mutirotor, VTOL, Plane, Rover.
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:::warning
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See [Gazebo Classic Vehicles](../sim_gazebo_classic/vehicles.md) for vehicles that work with the older [Gazebo "Classic" simulation](../sim_gazebo_classic/index.md).
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Note that vehicle models are not interchangeable between the two versions of the simulator: the vehicles on this page only work with (new) [Gazebo](../sim_gazebo_gz/index.md).
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:::
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## 멀티콥터
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### X500 Quadrotor
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```sh
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make px4_sitl gz_x500
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```
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### X500 Quadrotor with Visual Odometry
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```sh
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make px4_sitl gz_x500_vision
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```
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### X500 Quadrotor with Depth Camera (Front-facing)
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This model has a forward-facting depth camera attached, modelled on the [OAK-D](https://shop.luxonis.com/products/oak-d).
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```sh
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make px4_sitl gz_x500_depth
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```
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### X500 Quadrotor with Monocular Camera
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This model has a simple monocular camera sensor attached (there is no physical camera visualization on the model itself).
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```sh
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make px4_sitl gz_x500_mono_cam
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```
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:::info
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The camera cannot yet be used to stream video or for image capture in QGroundControl.
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[PX4-Autopilot#22563](https://github.com/PX4/PX4-Autopilot/issues/22563) can be used to track the additional work needed to fully enable these use cases.
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:::
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### X500 Quadrotor with Monocular Camera (Down-facing)
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This model has a simple monocular camera sensor attached facing down (there is no physical camera visualization on the model itself).
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This can be used with the [Aruco world](../sim_gazebo_gz/worlds.md#aruco) to test precision landing.
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```sh
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make px4_sitl gz_x500_mono_cam_down
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```
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### X500 Quadrotor with 1D LIDAR (Down-facing)
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This model has a LIDAR attached to the bottom, modelled on the [Lightware LW20/C](../sensor/sfxx_lidar.md).
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It has a range between 0.1 and 100m.
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The model can be used for testing [rangefinder](../sensor/rangefinders.md) use cases like [landing](../flight_modes_mc/land.md) or [terrain following](../flying/terrain_following_holding.md).
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```sh
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make px4_sitl gz_x500_lidar_down
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```
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### X500 Quadrotor with 1D LIDAR (Front-facing)
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This model has a LIDAR attached to the front, modelled on the [Lightware LW20/C](../sensor/sfxx_lidar.md).
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It has a range between 0.2 and 100m.
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The model can be used for testing [Collision Prevention](../computer_vision/collision_prevention.md#gazebo-simulation).
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```sh
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make px4_sitl gz_x500_lidar_front
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```
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### X500 Quadrotor with 2D LIDAR
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This model has a 2D LIDAR attached, modelled on the [Hokuyo UTM-30LX](https://www.hokuyo-aut.jp/search/single.php?serial=169).
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It has a range between 0.1 and 30m, and scans in a 270° arc.
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The model can be used for testing [Collision Prevention](../computer_vision/collision_prevention.md#gazebo-simulation).
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```sh
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make px4_sitl gz_x500_lidar_2d
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```
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:::info
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The sensor information is written to the [ObstacleDistance](../msg_docs/ObstacleDistance.md) UORB message used by collision prevention.
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:::
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### X500 Quadrotor with Gimbal (Front-facing)
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This model has a [gimbal](../advanced/gimbal_control.md) attached to the front with angular ranges of
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- roll: [- $\frac{\pi}{4}$, $\frac{\pi}{4}$]
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- pitch: [- $\frac{3\pi}{4}$, $\frac{\pi}{4}$]
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- yaw: infinite rotation
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The gimbal joints uses position control with a kinematic chain ZXY.
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.
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```sh
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make px4_sitl gz_x500_gimbal
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```
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## Plane/Fixed-wing
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### 표준 항공기
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```sh
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make px4_sitl gz_rc_cessna
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```
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### Advanced Plane
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<Badge type="tip" text="PX4 v1.15" />
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```sh
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make px4_sitl gz_advanced_plane
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```
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:::info
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The difference between the Advanced Plane and the "regular plane" lies in the Lift Physics that the two models use:
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- You can configure the _Advanced Lift Drag_ plugin used by the model to more closely match a particular vehicle using the [Advanced Lift Drag Tool](../sim_gazebo_gz/tools_avl_automation.md).
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- For more detail on the lift calculations for the Advanced Plane, see [PX4-SITL_gazebo-classic/src/liftdrag_plugin/README.md](https://github.com/PX4/PX4-SITL_gazebo-classic/blob/main/src/liftdrag_plugin/README.md)
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:::
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## 수직이착륙기(VTOL)
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### 표준 VTOL
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```sh
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make px4_sitl gz_standard_vtol
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```
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### Quad Tailsitter VTOL
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A VTOL tailsitter model that uses differential thrust for pitch, roll, and yaw control.
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```sh
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make px4_sitl gz_quadtailsitter
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```
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### 틸트로터 VTOL
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A VTOL Plane, where during the transition the front two motors will tilt forward and be used for forward thrust.
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```sh
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make px4_sitl gz_tiltrotor
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```
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## 탐사선
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### Differential Rover
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[Differential Rover](../frames_rover/index.md#differential) uses the [rover world](../sim_gazebo_gz/worlds.md#rover) by default.
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```sh
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make px4_sitl gz_rover_differential
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```
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### Ackermann Rover
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[Ackermann Rover](../frames_rover/index.md#ackermann) uses the [rover world](../sim_gazebo_gz/worlds.md#rover) by default.
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```sh
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make px4_sitl gz_rover_ackermann
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```
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### Mecanum Rover
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[Mecanum Rover](../frames_rover/index.md#mecanum) uses the [rover world](../sim_gazebo_gz/worlds.md#rover) by default.
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```sh
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make px4_sitl gz_rover_mecanum
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```
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