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# Симуляція кількох рухомих засобів з Gazebo Classic
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This topic explains how to simulate multiple UAV vehicles using [Gazebo Classic](../sim_gazebo_classic/index.md) and SITL (Linux only).
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Різний підхід використовуються для симуляції з та без ROS.
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## Кілька рухомих засобів з Gazebo Classic
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To simulate multiple iris or plane vehicles in Gazebo Classic use the following commands in the terminal (from the root of the _Firmware_ tree):
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```sh
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Tools/simulation/gazebo-classic/sitl_multiple_run.sh [-m <model>] [-n <number_of_vehicles>] [-w <world>] [-s <script>] [-t <target>] [-l <label>]
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```
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- `<model>`: The [vehicle type/model](../sim_gazebo_classic/vehicles.md) to spawn, e.g.: `iris` (default), `plane`, `standard_vtol`, `rover`, `r1_rover` `typhoon_h480`.
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- `<number_of_vehicles>`: The number of vehicles to spawn.
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Значення за замовчуванням - 3.
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Максимум - 254.
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- `<world>`: The [world](../sim_gazebo_classic/worlds.md) that the vehicle should be spawned into, e.g.: `empty` (default)
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- `<script>`: Spawn multiple vehicles of different types (overriding the values in `-m` and `-n`).
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Наприклад:
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```sh
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-s "iris:3,plane:2,standard_vtol:3"
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```
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- Supported vehicle types are: `iris`, `plane`, `standard_vtol`, `rover`, `r1_rover` `typhoon_h480`.
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- Число після двокрапки вказує на кількість рухомих засобів (цього типу) для відтворення.
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- Максимальна кількість засобів - 254.
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- `<target>`: build target, e.g: `px4_sitl_default` (default), `px4_sitl_nolockstep`
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- `<label>` : specific label for model, e.g: `rplidar`
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Кожному екземпляру рухомого засобу виділяється унікальний системний ідентифікатор MAVLink (2, 3, 4 тощо).
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MAVLink system id 1 is skipped in order to have consistency among [namespaces](../ros2/multi_vehicle.md#principle-of-operation).
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Vehicle instances are accessed from sequentially allocated PX4 remote UDP ports: `14541` - `14548` (additional instances are all accessed using the same remote UDP port: `14549`).
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:::info
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The 254-vehicle limitation occurs because mavlink `MAV_SYS_ID` only supports 255 vehicles in the same network (and the first one is skipped).
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The `MAV_SYS_ID` is allocated in the SITL rcS: [init.d-posix/rcS](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d-posix/rcS#L131)
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:::
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### Відео: кілька мультикоптерів (Iris)
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<lite-youtube videoid="Mskx_WxzeCk" title="Multiple vehicle simulation in SITL gazebo"/>
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### Відео: кілька літаків
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<lite-youtube videoid="aEzFKPMEfjc" title="PX4 Multivehicle SITL gazebo for fixedwing"/>
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### Відео: кілька ВЗІП
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<lite-youtube videoid="lAjjTFFZebI" title="PX4 Multivehicle SITL gazebo for VTOL"/>
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### Збірка та тестування (XRCE-DDS)
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`Tools/simulation/gazebo-classic/sitl_multiple_run.sh` can be used to simulate multiple vehicles connected via XRCE-DDS in Gazebo Classic.
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:::info
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You will need to have installed the XRCE-DDS dependencies.
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For more information see: [ROS 2 User Guide (PX4-ROS 2 Bridge)](../ros2/user_guide.md), for interfacing with ROS 2 nodes.
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:::
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Для збірки прикладу установки дотримуйтесь наступних кроків:
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1. Клонуйте код PX4/Прошивки і зберіть код SITL:
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```sh
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cd Firmware_clone
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git submodule update --init --recursive
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DONT_RUN=1 make px4_sitl gazebo-classic
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```
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2. Build the `micro xrce-dds agent` and the interface package following the [instructions here](../ros2/user_guide.md).
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3. Run `Tools/simulation/gazebo-classic/sitl_multiple_run.sh`.
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Наприклад, для відтворення 4 рухомих засобів виконайте:
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```sh
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./Tools/simulation/gazebo-classic/sitl_multiple_run.sh -m iris -n 4
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```
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::: info
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Each vehicle instance is allocated a unique MAVLink system id (2, 3, 4, etc.).
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Системний ідентифікатор MAVLink 1 пропускається.
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:::
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4. Run `MicroXRCEAgent`.
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Він автоматично під'єднається до усіх чотирьох рухомих засобів:
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```sh
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MicroXRCEAgent udp4 -p 8888
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```
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::: info
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The simulator startup script automatically assigns a [unique namespace](../ros2/multi_vehicle.md) to each vehicle.
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:::
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## Кілька рухомих засобів з MAVROS та Gazebo Classic
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Цей приклад демонструє установку, яка відкриває клієнтський графічний інтерфейс Gazebo Classic, показуючи два засоби типу Iris у порожньому світі.
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You can then control the vehicles with _QGroundControl_ and MAVROS in a similar way to how you would manage a single vehicle.
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### Вимоги
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- Current [PX4 ROS/Gazebo development environment](../ros/mavros_installation.md) (which includes the [MAVROS package](http://wiki.ros.org/mavros)).
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- a clone of latest [PX4/PX4-Autopilot](https://github.com/PX4/PX4-Autopilot)
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### Збірка та тестування
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Для збірки прикладу установки дотримуйтесь наступних кроків:
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1. Клонуйте код PX4/PX4-Autopilot і зберіть код SITL
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```sh
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cd Firmware_clone
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git submodule update --init --recursive
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DONT_RUN=1 make px4_sitl_default gazebo-classic
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```
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2. Виконайте команду source у вашому середовищі:
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```sh
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source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
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export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd):$(pwd)/Tools/simulation/gazebo-classic/sitl_gazebo
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```
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3. Виконайте файл запуску:
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```sh
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roslaunch px4 multi_uav_mavros_sitl.launch
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```
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::: info
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You can specify `gui:=false` in the above _roslaunch_ to launch Gazebo Classic without its UI.
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:::
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Навчальний приклад відкриває клієнтський графічний інтерфейс Gazebo Classic, показуючи два засоби типу Iris у порожньому світі.
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You can control the vehicles with _QGroundControl_ or MAVROS in a similar way to how you would manage a single vehicle:
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- _QGroundControl_ will have a drop-down to select the vehicle that is "in focus"
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- MAVROS requires that you include the proper namespace before the topic/service path (e.g. for `<group ns="uav1">` you'll use _/uav1/mavros/mission/push_).
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### Що відбувається?
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Для кожного змодельованого засобу необхідно наступне:
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- **Gazebo Classic model**: This is defined as `xacro` file in `PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/rotors_description/urdf/<model>_base.xacro` see [here](https://github.com/PX4/PX4-SITL_gazebo-classic/tree/02060a86652b736ca7dd945a524a8bf84eaf5a05/models/rotors_description/urdf).
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Currently, the model `xacro` file is assumed to end with **base.xacro**.
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This model should have an argument called `mavlink_udp_port` which defines the UDP port on which Gazebo Classic will communicate with PX4 node.
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The model's `xacro` file will be used to generate an `urdf` model that contains UDP port that you select.
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To define the UDP port, set the `mavlink_udp_port` in the launch file for each vehicle, see [here](https://github.com/PX4/PX4-Autopilot/blob/4d0964385b84dc91189f377aafb039d10850e5d6/launch/multi_uav_mavros_sitl.launch#L37) as an example.
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::: info
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If you are using the same vehicle model, you don't need a separate **`xacro`** file for each vehicle. The same **`xacro`** file is adequate.
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:::
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- **PX4 node**: This is the SITL PX4 app.
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It communicates with the simulator, Gazebo Classic, through the same UDP port defined in the Gazebo Classic vehicle model, i.e. `mavlink_udp_port`.
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To set the UDP port on the PX4 SITL app side, you need to set the `SITL_UDP_PRT` parameter in the startup file to match the `mavlink_udp_port` discussed previously, see [here](https://github.com/PX4/PX4-Autopilot/blob/4d0964385b84dc91189f377aafb039d10850e5d6/posix-configs/SITL/init/ekf2/iris_2#L46).
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The path of the startup file in the launch file is generated based on the `vehicle` and `ID` arguments, see [here](https://github.com/PX4/PX4-Autopilot/blob/4d0964385b84dc91189f377aafb039d10850e5d6/launch/multi_uav_mavros_sitl.launch#L36).
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The `MAV_SYS_ID` for each vehicle in the startup file, see [here](https://github.com/PX4/PX4-Autopilot/blob/4d0964385b84dc91189f377aafb039d10850e5d6/posix-configs/SITL/init/ekf2/iris_2#L4), should match the `ID` for that vehicle in the launch file [here](https://github.com/PX4/PX4-Autopilot/blob/4d0964385b84dc91189f377aafb039d10850e5d6/launch/multi_uav_mavros_sitl.launch#L25).
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Це допоможе переконатися, що ви тримаєте налаштування узгоджено між файлом запуску та стартовим файлом.
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- **MAVROS node** \(optional\): A separate MAVROS node can be run in the launch file, see [here](https://github.com/PX4/PX4-Autopilot/blob/4d0964385b84dc91189f377aafb039d10850e5d6/launch/multi_uav_mavros_sitl.launch#L41), in order to connect to PX4 SITL app, if you want to control your vehicle through ROS.
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You need to start a MAVLink stream on a unique set of ports in the startup file, see [here](https://github.com/PX4/PX4-Autopilot/blob/4d0964385b84dc91189f377aafb039d10850e5d6/posix-configs/SITL/init/ekf2/iris_1#L68).
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Those unique set of ports need to match those in the launch file for the MAVROS node, see [here](https://github.com/PX4/PX4-Autopilot/blob/4d0964385b84dc91189f377aafb039d10850e5d6/launch/multi_uav_mavros_sitl.launch#L26).
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The launch file `multi_uav_mavros_sitl.launch`does the following,
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- завантажує світ у Gazebo Classic,
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```xml
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<!-- Gazebo sim -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="gui" value="$(arg gui)"/>
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<arg name="world_name" value="$(arg world)"/>
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<arg name="debug" value="$(arg debug)"/>
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<arg name="verbose" value="$(arg verbose)"/>
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<arg name="paused" value="$(arg paused)"/>
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</include>
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```
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- для кожного рухомого засобу,
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- створює модель urdf із xacro, завантажує модель gazebo classic і запускає екземпляр застосунку PX4 SITL
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```xml
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn.launch">
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||||
<arg name="x" value="0"/>
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<arg name="y" value="0"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="$(arg vehicle)"/>
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<arg name="rcS" value="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_$(arg ID)"/>
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<arg name="mavlink_tcp_port" value="4560"/>
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<arg name="ID" value="$(arg ID)"/>
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</include>
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```
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||||
- запускає вузол Mavros
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```xml
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(arg ID)"/>
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<arg name="tgt_component" value="1"/>
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</include>
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```
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||||
::: info
|
||||
The complete block for each vehicle is enclosed in a set of `<group>` tags to separate the ROS namespaces of the vehicles.
|
||||
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:::
|
||||
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Щоб додати третій засіб типу iris до цієї симуляції потрібно врахувати два основні компоненти:
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||||
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||||
- add `UAV3` to **multi_uav_mavros_sitl.launch**
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- duplicate the group of either existing vehicle (`UAV1` or `UAV2`)
|
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- increment the `ID` arg to `3`
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- select a different port for `mavlink_udp_port` arg for communication with Gazebo Classic
|
||||
- selects ports for MAVROS communication by modifying both port numbers in the `fcu_url` arg
|
||||
- створити стартовий файл і змінити файл наступним чином:
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- make a copy of an existing iris rcS startup file (`iris_1` or `iris_2`) and rename it `iris_3`
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- `MAV_SYS_ID` value to `3`
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- `SITL_UDP_PRT` value to match that of the `mavlink_udp_port` launch file arg
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- the first `mavlink start` port and the `mavlink stream` port values to the same values, which is to be used for QGC communication
|
||||
- the second `mavlink start` ports need to match those used in the launch file `fcu_url` arg
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||||
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||||
::: info
|
||||
Be aware of which port is `src` and `dst` for the different endpoints.
|
||||
|
||||
:::
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||||
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## Кілька рухомих засобів з використанням моделей SDF
|
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|
||||
Цей розділ показує, як розробнику симулювати декілька засобів за допомогою моделей рухомих засобів, визначених у SDF файлах Gazebo Classic (замість використання моделей, визначених у ROS Xacro файлах, як обговорювалося у решті цієї теми).
|
||||
|
||||
Кроки наступні:
|
||||
|
||||
1. Install _xmlstarlet_ from your Linux terminal:
|
||||
|
||||
```sh
|
||||
sudo apt install xmlstarlet
|
||||
```
|
||||
|
||||
2. Use _roslaunch_ with the **multi_uav_mavros_sitl_sdf.launch** launch file:
|
||||
|
||||
````sh
|
||||
roslaunch multi_uav_mavros_sitl_sdf.launch vehicle:=<model_file_name>
|
||||
```
|
||||
|
||||
::: info
|
||||
Note that the vehicle model file name argument is optional (`vehicle:=<model_file_name>`); if omitted the [plane model](https://github.com/PX4/PX4-SITL_gazebo-classic/tree/master/models/plane) will be used by default.
|
||||
|
||||
:::
|
||||
````
|
||||
|
||||
This method is similar to using the xacro except that the SITL/Gazebo Classic port number is automatically inserted by _xmstarlet_ for each spawned vehicle, and does not need to be specified in the SDF file.
|
||||
|
||||
Щоб додати новий рухомий засіб, вам потрібно переконатися, що модель можна знайти (для відтворення у Gazebo Classic) та PX4 повинен мати відповідний скрипт запуску.
|
||||
|
||||
1. Можна обрати зробити щось одне з:
|
||||
|
||||
- modify the **single_vehicle_spawn_sdf.launch** file to point to the location of your model by changing the line below to point to your model:
|
||||
|
||||
```sh
|
||||
$(find px4)/Tools/simulation/gazebo/sitl_gazebo-classic/models/$(arg vehicle)/$(arg vehicle).sdf
|
||||
```
|
||||
|
||||
::: info
|
||||
Ensure you set the `vehicle` argument even if you hardcode the path to your model.
|
||||
|
||||
:::
|
||||
|
||||
- скопіювати свою модель в директорію, позначену вище (дотримуючись тих же правил шляху).
|
||||
|
||||
2. The `vehicle` argument is used to set the `PX4_SIM_MODEL` environment variable, which is used by the default rcS (startup script) to find the corresponding startup settings file for the model.
|
||||
Within PX4 these startup files can be found in the **PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/** directory.
|
||||
For example, here is the plane model's [startup script](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane).
|
||||
For this to work, the PX4 node in the launch file is passed arguments that specify the _rcS_ file (**etc/init.d/rcS**) and the location of the rootfs etc directory (`$(find px4)/build_px4_sitl_default/etc`).
|
||||
For simplicity, it is suggested that the startup file for the model be placed alongside PX4's in **PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/**.
|
||||
|
||||
## Додаткові ресурси
|
||||
|
||||
- See [Simulation](../simulation/index.md) for a description of the UDP port configuration.
|
||||
- See [URDF in Gazebo](http://wiki.ros.org/urdf/Tutorials/Using%20a%20URDF%20in%20Gazebo) for more information about spawning the model with xacro.
|
||||
- See [RotorS](https://github.com/ethz-asl/rotors_simulator/tree/master/rotors_description/urdf) for more xacro models.
|
||||
@@ -0,0 +1,81 @@
|
||||
# 3D Моделі OctoMap з ROS/Gazebo Classic
|
||||
|
||||
The [OctoMap library](http://octomap.github.io/) is an open source library for generating volumetric 3D environment models from sensor data.
|
||||
Дані цієї моделі потім можуть використовуватись дроном для навігації та уникнення перешкод.
|
||||
|
||||
This guide covers how to use _OctoMap_ with the [Gazebo Classic](../sim_gazebo_classic/index.md) [Rotors Simulator](https://github.com/ethz-asl/rotors_simulator/wiki/RotorS-Simulator) and ROS.
|
||||
|
||||
## Встановлення
|
||||
|
||||
The installation requires ROS, [Gazebo Classic](../sim_gazebo_classic/index.md) and the Rotors Simulator plugin.
|
||||
Follow the [Rotors Simulator instructions](https://github.com/ethz-asl/rotors_simulator) to install.
|
||||
|
||||
Next, install the _OctoMap_ library:
|
||||
|
||||
```sh
|
||||
sudo apt-get install ros-indigo-octomap ros-indigo-octomap-mapping
|
||||
rosdep install octomap_mapping
|
||||
rosmake octomap_mapping
|
||||
```
|
||||
|
||||
Now, open `~/catkin_ws/src/rotors_simulator/rotors_gazebo/CMakeLists.txt` and add the following lines to the bottom of the file:
|
||||
|
||||
```sh
|
||||
find_package(octomap REQUIRED)
|
||||
include_directories(${OCTOMAP_INCLUDE_DIRS})
|
||||
link_libraries(${OCTOMAP_LIBRARIES})
|
||||
```
|
||||
|
||||
Open `~/catkin_ws/src/rotors_simulator/rotors_gazebo/package.xml` and add the following lines:
|
||||
|
||||
```xml
|
||||
<build_depend>octomap</build_depend>
|
||||
<run_depend>octomap</run_depend>
|
||||
```
|
||||
|
||||
Виконайте наступні два рядки:
|
||||
|
||||
:::info
|
||||
The first line changes your default shell editor to _gedit_. This is recommended for users who have little experience with _vim_ (the default editor), but can otherwise be omitted.
|
||||
:::
|
||||
|
||||
```sh
|
||||
export EDITOR='gedit'
|
||||
rosed octomap_server octomap_tracking_server.launch
|
||||
```
|
||||
|
||||
та змінити наступні два рядки:
|
||||
|
||||
```xml
|
||||
<param name="frame_id" type="string" value="map" />
|
||||
...
|
||||
<!--remap from="cloud_in" to="/rgbdslam/batch_clouds" /-->
|
||||
```
|
||||
|
||||
на:
|
||||
|
||||
```xml
|
||||
<param name="frame_id" type="string" value="world" />
|
||||
...
|
||||
<remap from="cloud_in" to="/firefly/vi_sensor/camera_depth/depth/points" />
|
||||
```
|
||||
|
||||
## Запуск симуляції
|
||||
|
||||
Run the following three lines in _separate_ terminal windows.
|
||||
This opens up [Gazebo Classic](../sim_gazebo_classic/index.md), _Rviz_ and an octomap server.
|
||||
|
||||
```sh
|
||||
roslaunch rotors_gazebo mav_hovering_example_with_vi_sensor.launch mav_name:=firefly
|
||||
rviz
|
||||
roslaunch octomap_server octomap_tracking_server.launch
|
||||
```
|
||||
|
||||
In _Rviz_, change the field 'Fixed Frame' from 'map' to 'world' in the top left of the window.
|
||||
Тепер натисніть кнопку "Додати" в нижньому лівому куті та оберіть MarkerArray. Then double click the MarkerArray and change 'Marker Topic' from `/free_cells_vis_array` to `/occupied_cells_vis_array`.
|
||||
|
||||
Тепер ви повинні побачити частину підлоги.
|
||||
|
||||
In the _Gazebo Classic_ window, insert a cube in front of the red rotors and you should see it in _Rviz_.
|
||||
|
||||
|
||||
@@ -0,0 +1,153 @@
|
||||
# Рухомі засоби Gazebo Classic
|
||||
|
||||
This topic lists/displays the vehicles supported by the PX4 [Gazebo Classic](../sim_gazebo_classic/index.md) simulation and the `make` commands required to run them (the commands are run from a terminal in the **PX4-Autopilot** directory).
|
||||
|
||||
Типи рухомих засобів що підтримуються включають: мультиротори, ВЗІП, ВЗІП з хвоста, літак, ровер, підводний човен/підводний дрон.
|
||||
|
||||
:::info
|
||||
The [Gazebo Classic](../sim_gazebo_classic/index.md) page shows how to install Gazebo Classic, how to enable video and load custom maps, and many other configuration options.
|
||||
:::
|
||||
|
||||
## Мультикоптер
|
||||
|
||||
### Квадрокоптер (за замовчуванням)
|
||||
|
||||
```sh
|
||||
make px4_sitl gazebo-classic
|
||||
```
|
||||
|
||||
### Квадрокоптер з оптичним потоком
|
||||
|
||||
```sh
|
||||
make px4_sitl gazebo-classic_iris_opt_flow
|
||||
```
|
||||
|
||||
### Квадрокоптер з камерою глибини
|
||||
|
||||
Ці моделі мають додану камеру глибини, змодельовану за зразком Intel® RealSense™ D455.
|
||||
|
||||
_Forward-facing depth camera:_
|
||||
|
||||
```sh
|
||||
make px4_sitl gazebo-classic_iris_depth_camera
|
||||
```
|
||||
|
||||
_Downward-facing depth camera:_
|
||||
|
||||
```sh
|
||||
make px4_sitl gazebo-classic_iris_downward_depth_camera
|
||||
```
|
||||
|
||||
### 3DR Solo (Квадрокоптер)
|
||||
|
||||
```sh
|
||||
make px4_sitl gazebo-classic_solo
|
||||
```
|
||||
|
||||
|
||||
|
||||
### Typhoon H480 (Гексакоптер)
|
||||
|
||||
```sh
|
||||
make px4_sitl gazebo-classic_typhoon_h480
|
||||
```
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
This target also supports [video streaming simulation](../sim_gazebo_classic/index.md#video-streaming).
|
||||
:::
|
||||
|
||||
<a id="fixed_wing"></a>
|
||||
|
||||
## Літак/Фіксоване крило
|
||||
|
||||
### Стандартний літак
|
||||
|
||||
```sh
|
||||
make px4_sitl gazebo-classic_plane
|
||||
```
|
||||
|
||||
|
||||
|
||||
#### Стандартний літак із запуском з катапульти
|
||||
|
||||
```sh
|
||||
make px4_sitl gazebo-classic_plane_catapult
|
||||
```
|
||||
|
||||
This model simulates hand/catapult launch, which can be used for [fixed-wing takeoff](../flight_modes_fw/takeoff.md) in position mode, takeoff mode, or missions.
|
||||
|
||||
Літак буде автоматично запущено як тільки засіб буде в стані готовності.
|
||||
|
||||
## VTOL
|
||||
|
||||
### Standard VTOL
|
||||
|
||||
```sh
|
||||
make px4_sitl gazebo-classic_standard_vtol
|
||||
```
|
||||
|
||||
|
||||
|
||||
### Тейлсіттер
|
||||
|
||||
```sh
|
||||
make px4_sitl gazebo-classic_tailsitter
|
||||
```
|
||||
|
||||
|
||||
|
||||
<a id="ugv"></a>
|
||||
|
||||
## Безпілотний наземний засіб (Ровер/Автомобіль)
|
||||
|
||||
### Наземний засіб з трапецією Аккермана
|
||||
|
||||
```sh
|
||||
make px4_sitl gazebo-classic_rover
|
||||
```
|
||||
|
||||
|
||||
|
||||
### Наземний засіб з диференціалом
|
||||
|
||||
```sh
|
||||
make px4_sitl gazebo-classic_r1_rover
|
||||
```
|
||||
|
||||
|
||||
|
||||
## Безпілотний підводний засіб(Підводний човен)
|
||||
|
||||
### HippoCampus TUHH
|
||||
|
||||
```sh
|
||||
make px4_sitl gazebo-classic_uuv_hippocampus
|
||||
```
|
||||
|
||||
|
||||
|
||||
## Безпілотний надводний засіб (Човен)
|
||||
|
||||
<a id="usv_boat"></a>
|
||||
|
||||
### Човен
|
||||
|
||||
```sh
|
||||
make px4_sitl gazebo-classic_boat
|
||||
```
|
||||
|
||||
|
||||
|
||||
<a id="airship"></a>
|
||||
|
||||
## Дирижабль
|
||||
|
||||
### Cloudship
|
||||
|
||||
```sh
|
||||
make px4_sitl gazebo-classic_cloudship
|
||||
```
|
||||
|
||||
|
||||
@@ -0,0 +1,72 @@
|
||||
# Світи Gazebo Classic
|
||||
|
||||
This topic provides imagery/information about the [Gazebo Classic](../sim_gazebo_classic/index.md) worlds supported by PX4.
|
||||
|
||||
The [empty.world](#empty_world) is spawned by default, though this may be overridden by a [model specific world](#model_specific_worlds).
|
||||
Developers can also manually specify the world to load: [Gazebo Classic > Loading a Specific World](../sim_gazebo_classic/index.md#loading-a-specific-world).
|
||||
|
||||
The source code for supported worlds can be found on GitHub here: [PX4/PX4-SITL_gazebo-classic/tree/main/worlds](https://github.com/PX4/PX4-SITL_gazebo-classic/tree/main/worlds).
|
||||
|
||||
<a id="empty_world"></a>
|
||||
|
||||
## Порожній (за замовчуванням)
|
||||
|
||||
[PX4/PX4-SITL_gazebo-classic/tree/main/worlds/empty.world](https://github.com/PX4/PX4-SITL_gazebo-classic/blob/main/worlds/empty.world)
|
||||
|
||||
|
||||
|
||||
## Baylands
|
||||
|
||||
[PX4/PX4-SITL_gazebo-classic/tree/main/worlds/baylands.world](https://github.com/PX4/PX4-SITL_gazebo-classic/blob/main/worlds/baylands.world)
|
||||
|
||||
|
||||
|
||||
## Аеропорт KSQL
|
||||
|
||||
[PX4/PX4-SITL_gazebo-classic/tree/main/worlds/ksql_airport.world](https://github.com/PX4/PX4-SITL_gazebo-classic/blob/main/worlds/ksql_airport.world)
|
||||
|
||||
|
||||
|
||||
## Літовище McMillan
|
||||
|
||||
[PX4/PX4-SITL_gazebo-classic/tree/main/worlds/mcmillan_airfield.world](https://github.com/PX4/PX4-SITL_gazebo-classic/blob/main/worlds/mcmillan_airfield.world)
|
||||
|
||||
|
||||
|
||||
## Безпечна посадка
|
||||
|
||||
[PX4/PX4-SITL_gazebo-classic/tree/main/worlds/safe_landing.world](https://github.com/PX4/PX4-SITL_gazebo-classic/blob/main/worlds/safe_landing.world)
|
||||
|
||||
|
||||
|
||||
## Гоночна траса Sonoma
|
||||
|
||||
[PX4/PX4-SITL_gazebo-classic/tree/main/worlds/sonoma_raceway.world](https://github.com/PX4/PX4-SITL_gazebo-classic/blob/main/worlds/sonoma_raceway.world)
|
||||
|
||||
|
||||
## Склад
|
||||
|
||||
[PX4/PX4-SITL_gazebo-classic/tree/main/worlds/warehouse.world](https://github.com/PX4/PX4-SITL_gazebo-classic/blob/main/worlds/warehouse.world)
|
||||
|
||||
|
||||
|
||||
## Yosemite
|
||||
|
||||
[PX4/PX4-SITL_gazebo-classic/tree/main/worlds/yosemite.world](https://github.com/PX4/PX4-SITL_gazebo-classic/blob/main/worlds/yosemite.world)
|
||||
|
||||
|
||||
|
||||
<a id="model_specific_worlds"></a>
|
||||
|
||||
## Світи певний моделей
|
||||
|
||||
Some [vehicle models](../sim_gazebo_classic/vehicles.md) rely on the physics / plugins of a specific world.
|
||||
The PX4 toolchain will automatically spawn a world that has the same name as the vehicle model if one exists (instead of the default **empty.world**):
|
||||
|
||||
Світи певних моделей:
|
||||
|
||||
- [boat.world](https://github.com/PX4/PX4-SITL_gazebo-classic/blob/main/worlds/boat.world): Includes a surface to simulate buoyancy of the [boat](../sim_gazebo_classic/vehicles.md#unmanned-surface-vehicle-usv-boat).
|
||||
- [uuv_hippocampus.world](https://github.com/PX4/PX4-SITL_gazebo-classic/blob/main/worlds/uuv_hippocampus.world): An empty world used to simulate an underwater environment for the [HippoCampus UUV](../sim_gazebo_classic/vehicles.md#hippocampus-tuhh-uuv).
|
||||
- [typhoon_h480.world](https://github.com/PX4/PX4-SITL_gazebo-classic/blob/main/worlds/typhoon_h480.world): Used by [Typhoon H480 (Hexrotor)](../sim_gazebo_classic/vehicles.md#typhoon-h480-hexrotor) vehicle model and includes a video widget to enable / disable video streaming.
|
||||
Цей світ включає плагін gazebo для симуляції камери.
|
||||
- [iris_irlock.world](https://github.com/PX4/PX4-SITL_gazebo-classic/blob/main/worlds/iris_irlock.world): Includes a IR beacon for testing [precision landing](../advanced_features/precland.md).
|
||||
Reference in New Issue
Block a user