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New Crowdin translations - uk (#25558)
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@@ -249,14 +249,14 @@ It is enabled by default in many vehicle SDF files: **solo.sdf**, **iris.sdf**,
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To enable/disable GPS noise:
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1. Build any gazebo target in order to generate SDF files (for all vehicles).
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Наприклад:
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Наприклад:
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```sh
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make px4_sitl gazebo-classic_iris
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```
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```sh
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make px4_sitl gazebo-classic_iris
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```
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:::tip
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The SDF files are not overwritten on subsequent builds.
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:::tip
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The SDF files are not overwritten on subsequent builds.
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:::
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@@ -264,17 +264,17 @@ To enable/disable GPS noise:
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3. Search for the `gpsNoise` element:
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```xml
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<plugin name='gps_plugin' filename='libgazebo_gps_plugin.so'>
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<robotNamespace/>
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<gpsNoise>true</gpsNoise>
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</plugin>
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```
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```xml
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<plugin name='gps_plugin' filename='libgazebo_gps_plugin.so'>
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<robotNamespace/>
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<gpsNoise>true</gpsNoise>
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</plugin>
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```
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- If it is present, GPS is enabled.
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You can disable it by deleting the line: `<gpsNoise>true</gpsNoise>`
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- If it is not present, GPS is disabled.
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You can enable it by adding the `gpsNoise` element to the `gps_plugin` section (as shown above).
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- If it is present, GPS is enabled.
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You can disable it by deleting the line: `<gpsNoise>true</gpsNoise>`
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- If it is not present, GPS is disabled.
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You can enable it by adding the `gpsNoise` element to the `gps_plugin` section (as shown above).
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The next time you build/restart Gazebo Classic it will use the new GPS noise setting.
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@@ -68,36 +68,36 @@ For more information see: [ROS 2 User Guide (PX4-ROS 2 Bridge)](../ros2/user_gui
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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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```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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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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```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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::: 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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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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```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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::: 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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@@ -117,27 +117,27 @@ You can then control the vehicles with _QGroundControl_ and MAVROS in a similar
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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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```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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```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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```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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::: 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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@@ -253,45 +253,45 @@ The launch file `multi_uav_mavros_sitl.launch`does the following,
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1. Install _xmlstarlet_ from your Linux terminal:
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```sh
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sudo apt install xmlstarlet
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```
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```sh
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sudo apt install xmlstarlet
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```
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2. Use _roslaunch_ with the **multi_uav_mavros_sitl_sdf.launch** launch file:
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````sh
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roslaunch multi_uav_mavros_sitl_sdf.launch vehicle:=<model_file_name>
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```
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````sh
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roslaunch multi_uav_mavros_sitl_sdf.launch vehicle:=<model_file_name>
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```
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::: info
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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.
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::: info
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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.
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:::
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````
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````
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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.
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Щоб додати новий рухомий засіб, вам потрібно переконатися, що модель можна знайти (для відтворення у Gazebo Classic) та PX4 повинен мати відповідний скрипт запуску.
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1. Можна обрати зробити щось одне з:
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- 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:
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- 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:
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```sh
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$(find px4)/Tools/simulation/gazebo/sitl_gazebo-classic/models/$(arg vehicle)/$(arg vehicle).sdf
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```
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```sh
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$(find px4)/Tools/simulation/gazebo/sitl_gazebo-classic/models/$(arg vehicle)/$(arg vehicle).sdf
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```
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::: info
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Ensure you set the `vehicle` argument even if you hardcode the path to your model.
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::: info
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Ensure you set the `vehicle` argument even if you hardcode the path to your model.
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:::
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- скопіювати свою модель в директорію, позначену вище (дотримуючись тих же правил шляху).
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- скопіювати свою модель в директорію, позначену вище (дотримуючись тих же правил шляху).
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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.
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Within PX4 these startup files can be found in the **PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/** directory.
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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).
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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 (`$(find px4)/build_px4_sitl_default/etc`).
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For simplicity, it is suggested that the startup file for the model be placed alongside PX4's in **PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/**.
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Within PX4 these startup files can be found in the **PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/** directory.
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For example, here is the plane model's [startup script](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane).
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For this to work, the PX4 node in the launch file is passed arguments that specify the _rcS_ file (**etc/init.d/rcS**) and the location of the rootfs etc directory (`$(find px4)/build_px4_sitl_default/etc`).
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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/**.
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## Додаткові ресурси
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