PX4+gazebo仿真给无人机添加摄像头

1.启动仿真：

cd到Firmware文件夹，执行以下代码

roslaunch px4 mavros_posix_sitl.launch

如果启动过程卡住或者很慢，下载该链接的压缩包https://bitbucket.org/osrf/gazebo_models/downloads/

解压到.gazebo/models文件夹下，该文件夹为隐藏文件夹，按ctrl+h使其显示。如果没有models文件夹，则自己新建一个

启动后输入

commander takeoff

测试其是否正常起飞

2.添加单目摄像头

在{path_to_firmware}/launch文件夹中找到mavros_posix_sitl.launch文件，打开

<?xml version="1.0"?>
<launch>
    <!-- MAVROS posix SITL environment launch script -->
    <!-- launches MAVROS, PX4 SITL, Gazebo environment, and spawns vehicle -->
    <!-- vehicle pose -->
    <arg name="x" default="0"/>
    <arg name="y" default="0"/>
    <arg name="z" default="0"/>
    <arg name="R" default="0"/>
    <arg name="P" default="0"/>
    <arg name="Y" default="0"/>
    <!-- vehicle model and world -->
    <arg name="est" default="ekf2"/>
    <arg name="vehicle" default="iris"/>
    <arg name="my_model" default="iris_fpv_cam"/>
    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
<!--    <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>-->
    <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg my_model)/$(arg my_model).sdf"/>

    <!-- gazebo configs -->
    <arg name="gui" default="true"/>
    <arg name="debug" default="false"/>
    <arg name="verbose" default="false"/>
    <arg name="paused" default="false"/>
    <arg name="respawn_gazebo" default="false"/>
    <!-- MAVROS configs -->
    <arg name="fcu_url" default="udp://:14540@localhost:14557"/>
    <arg name="respawn_mavros" default="false"/>
    <!-- PX4 configs -->
    <arg name="interactive" default="true"/>
    <!-- PX4 SITL and Gazebo -->
    <include file="$(find px4)/launch/posix_sitl.launch">
        <arg name="x" value="$(arg x)"/>
        <arg name="y" value="$(arg y)"/>
        <arg name="z" value="$(arg z)"/>
        <arg name="R" value="$(arg R)"/>
        <arg name="P" value="$(arg P)"/>
        <arg name="Y" value="$(arg Y)"/>
        <arg name="world" value="$(arg world)"/>
        <arg name="vehicle" value="$(arg vehicle)"/>
        <arg name="sdf" value="$(arg sdf)"/>
        <arg name="gui" value="$(arg gui)"/>
        <arg name="interactive" value="$(arg interactive)"/>
        <arg name="debug" value="$(arg debug)"/>
        <arg name="verbose" value="$(arg verbose)"/>
        <arg name="paused" value="$(arg paused)"/>
        <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
    </include>
    <!-- MAVROS -->
    <include file="$(find mavros)/launch/px4.launch">
        <!-- GCS link is provided by SITL -->
        <arg name="gcs_url" value=""/>
        <arg name="fcu_url" value="$(arg fcu_url)"/>
        <arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
    </include>
</launch>

做如下改动：

添加

<arg name="my_model" default="iris_fpv_cam"/>

修改

<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/> 

为

<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg my_model)/$(arg my_model).sdf"/>

然后保存

3.修改摄像头朝向

打开{path_to_firmware}/Tools/sitl_gazebo/models/iris_fpv_cam中的iris_fpv_cam.sdf文件

修改

<include>
      <uri>model://fpv_cam</uri>
      <pose>0 0 0 0 0 0</pose>
</include>

为

<include>
      <uri>model://fpv_cam</uri>
      <pose>0 0 0 0 1.57 0</pose>
</include>

其中<pose>0 0 0 0 0 0</pose>为相机朝向参数意义为XYZ，以及以XYZ 为顺序的欧拉角(幅度表示，逆时针为正)

如果想添加下置相机，修改pose为<pose>0 0 0 0 1.57 0</pose>