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docs/zh/ros2/offboard_control.md
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@@ -5,7 +5,7 @@
示例将首先发送设置点、进入offboard模式、解锁、起飞至5米，并悬停等待。
虽然简单，但它显示了如何使用offboard控制以及如何向无人机发送指令。
It has been tested on Ubuntu 20.04 with ROS 2 Foxy and PX4 v1.14.
该内容已在搭载 ROS 2 Foxy 与 PX4 v1.14 的 Ubuntu 20.04 系统上完成测试。
:::warning
_Offboard_ control is dangerous.
@@ -13,22 +13,22 @@ _Offboard_ control is dangerous.
:::
:::info
ROS and PX4 make a number of different assumptions, in particular with respect to [frame conventions](../ros/external_position_estimation.md#reference-frames-and-ros).
ROS 与 PX4 存在若干不同的预设（假设），尤其是在坐标系约定（[frame conventions]）方面../ros/external_position_estimation.md#reference-frames-and-ros
当主题发布或订阅时，坐标系类型之间没有隐含转换！
这个例子按照PX4的定义在NED坐标系下发布位置。
To subscribe to data coming from nodes that publish in a different frame (for example the ENU, which is the standard frame of reference in ROS/ROS 2), use the helper functions in the [frame_transforms](https://github.com/PX4/px4_ros_com/blob/main/src/lib/frame_transforms.cpp) library.
这个例子按照PX4的预期在NED坐标系下发布位置。
若要订阅来自在不同框架内发布的节点的数据(例如ENU, 这是ROS/ROS 2中的标准参考框架，使用 [frame_transforms](https://github.com/PX4/px4_ros_com/blob/main/src/lib/frame_transforms.cpp)库中的辅助函数。
:::
## 尝试一下
## 小試身手
Follow the instructions in [ROS 2 User Guide](../ros2/user_guide.md) to install PX and run the simulator, install ROS 2, and start the XRCE-DDS Agent.
请遵循 ROS 2 用户指南 （../ros2/user_guide.md）中的说明，完成安装 PX4和运行模拟器，安装 ROS 2和启动 XRCE-DDS 代理（Agent）。
After that we can follow a similar set of steps to those in [ROS 2 User Guide > Build ROS 2 Workspace](../ros2/user_guide.md#build-ros-2-workspace) to run the example.
之后，我们可参照 ROS 2 用户指南 > 构建 ROS 2 工作空间 （../ros2/user_guide.md#build-ros-2-workspace）中的相似的步骤来运行这个例子。
:::tip
Make sure that QGC is connected to PX4 before running the ROS 2 node.
This is needed because, by default, you cannot arm a vehicle without a connection to ground station (QGC) or an established RC connection (this ensures there is always the option to regain manual control).
运行 ROS 2 节点前，请确保 QGC已连接到 PX4。
之所以需要这样做，是因为默认情况下，若未连接地面控制站（QGC）或已建立的RC连接，飞行器无法解锁（这一机制可确保始终存在重新获得手动控制权的途径）。
:::
构建并运行示例：
@@ -42,14 +42,14 @@ This is needed because, by default, you cannot arm a vehicle without a connectio
cd ~/ws_offboard_control/src/
```
3. Clone the [px4_msgs](https://github.com/PX4/px4_msgs) repo to the `/src` directory (this repo is needed in every ROS 2 PX4 workspace!):
3. 将 px4_msgs 代码仓库克隆到 /src 目录下（每个 ROS 2 PX4 工作空间都需要该仓库！）：
```sh
git clone https://github.com/PX4/px4_msgs.git
# checkout the matching release branch if not using PX4 main.
#若未使用 PX4 的 main 分支，请切换到对应的发布分支
```
4. Clone the example repository [px4_ros_com](https://github.com/PX4/px4_ros_com) to the `/src` directory:
4. 将示例代码仓库 px4_ros_com （https://github.com/PX4/px4_ros_com）克隆到 /src 目录下：
```sh
git clone https://github.com/PX4/px4_ros_com.git
@@ -83,7 +83,7 @@ This is needed because, by default, you cannot arm a vehicle without a connectio
::::
6. Source the `local_setup.bash`:
6. 来源 `local_setup.bash`：
```sh
source install/local_setup.bash
@@ -99,81 +99,81 @@ This is needed because, by default, you cannot arm a vehicle without a connectio
## 实现
The source code of the offboard control example can be found in [PX4/px4_ros_com](https://github.com/PX4/px4_ros_com) in the directory [/src/examples/offboard/offboard_control.cpp](https://github.com/PX4/px4_ros_com/blob/main/src/examples/offboard/offboard_control.cpp).
离板控制示例的源代码可以在[ PX4/px4_ros_com ]目录里 [/src/examples/offboard/offboard_control.cpp](https://github.com/PX4/px4_ros_com/blob/main/src/examples/offboard/offboard_control.cpp)中找到 [X4/px4_ros_com](https://github.com/PX4/px4_ros_com)。
:::info
PX4 publishes all the messages used in this example as ROS topics by default (see [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml)).
PX4 默认情况下将此示例中使用的所有消息以ROS为话题发布(详见 [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml))。
:::
PX4 requires that the vehicle is already receiving `OffboardControlMode` messages before it will arm in offboard mode, or before it will switch to offboard mode when flying.
In addition, PX4 will switch out of offboard mode if the stream rate of `OffboardControlMode` messages drops below approximately 2Hz.
PX4 要求，飞行器需先持续接收 OffboardControlMode（离板控制模式）消息，之后才能在离板模式下解锁（arm），或在飞行过程中切换至离板模式。
此外，若 OffboardControlMode（离板控制模式）消息的数据流速率降至约 2Hz 以下，PX4 将会退出离板模式。
该行为在ROS 2 节点的主循环中实现的，如下所示：
```cpp
auto timer_callback = [this]() -> void {
auto timer_callback = [this]() -&gt; void {
if (offboard_setpoint_counter_ == 10) {
// Change to Offboard mode after 10 setpoints
this->publish_vehicle_command(VehicleCommand::VEHICLE_CMD_DO_SET_MODE, 1, 6);
if (offboard_setpoint_counter_ == 10) {
// Change to Offboard mode after 10 setpoints
this-&gt;publish_vehicle_command(VehicleCommand::VEHICLE_CMD_DO_SET_MODE, 1, 6);
// Arm the vehicle
this->arm();
}
// Arm the vehicle
this-&gt;arm();
}
// OffboardControlMode needs to be paired with TrajectorySetpoint
publish_offboard_control_mode();
publish_trajectory_setpoint();
// OffboardControlMode needs to be paired with TrajectorySetpoint
publish_offboard_control_mode();
publish_trajectory_setpoint();
// stop the counter after reaching 11
if (offboard_setpoint_counter_ < 11) {
offboard_setpoint_counter_++;
}
// stop the counter after reaching 11
if (offboard_setpoint_counter_ &lt; 11) {
offboard_setpoint_counter_++;
}
};
timer_ = this->create_wall_timer(100ms, timer_callback);
timer_ = this-&gt;create_wall_timer(100ms, timer_callback);
```
循环运行在一个100毫秒计时器。
For the first 10 cycles it calls `publish_offboard_control_mode()` and `publish_trajectory_setpoint()` to send [OffboardControlMode](../msg_docs/OffboardControlMode.md) and [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) messages to PX4.
The `OffboardControlMode` messages are streamed so that PX4 will allow arming once it switches to offboard mode, while the `TrajectorySetpoint` messages are ignored (until the vehicle is in offboard mode).
在最初的 10 个循环中，它会调用 publish_offboard_control_mode() 和 publish_trajectory_setpoint() 这两个函数，向 PX4 发送 OffboardControlMode（离板控制模式）（../msg_docs/OffboardControlMode.md） 和 TrajectorySetpoint（轨迹设定点）（../msg_docs/TrajectorySetpoint.md） 消息。
OffboardControlMode消息会持续发送，以便 PX4 切换到离板模式后允许解锁；而 TrajectorySetpoint消息会被忽略（直到载具处于离板模式）
After 10 cycles `publish_vehicle_command()` is called to change to offboard mode, and `arm()` is called to arm the vehicle.
在飞行器解锁并和切换模式后，它将开始跟踪位置设定值。
在每个周期内仍然发送设定值，确保飞行器不会切换出offboard模式。
10 个循环后，会调用 publish_vehicle_command() 函数切换至离板模式，并调用 arm() 函数对载具进行解锁。
在载具解锁并和切换模式后，它将开始跟踪位置设定值。
在每个周期内仍然发送设定值，确保载具不会切换出offboard模式。
The implementations of the `publish_offboard_control_mode()` and `publish_trajectory_setpoint()` methods are shown below.
These publish the [OffboardControlMode](../msg_docs/OffboardControlMode.md) and [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) messages to PX4 (respectively).
publish_offboard_control_mode() 和 publish_trajectory_setpoint() 这两个方法的实现代码如下所示。
这些方法会分别发布到 PX4 的 [OffboardControlMode](../msg_docs/OffboardControlMode.md和 [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) 消息。
The `OffboardControlMode` is required in order to inform PX4 of the _type_ of offboard control behing used.
Here we're only using _position control_, so the `position` field is set to `true` and all the other fields are set to `false`.
OffboardControlMode（离板控制模式）消息是必需的，其作用是告知 PX4 当前所使用的离板控制类型。
此处我们仅使用位置控制，因此将 `position` 字段设为`true`，而所有其他字段均设为 `false`。
```cpp
/**
* @brief Publish the offboard control mode.
* For this example, only position and altitude controls are active.
* @short 发布离板控制模式。
*在本示例中，仅位置控制和高度控制处于激活状态
*/
void OffboardControl::publish_offboard_control_mode()
{
OffboardControlMode msg{};
msg.position = true;
msg.velocity = false;
msg.acceleration = false;
无效的离板控制：:publish_offboard_control_mode()
Power
OffboardControlModel msg{}；
msg.position = true；
msg.veocity = false；
msg. cceleration = false;
msg.attitude = false;
msg.body_rate = false;
msg.thrust_and_torque = false;
msg.direct_actuator = false;
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
msg.subust_and_torque = false;
msg. irect_actuator = false;
msg.timestamp = this->get_clock()->now ().nanoseconds() / 1000;
offboard_control_mode_publisher_->publish(msg);
}
```
`TrajectorySetpoint` provides the position setpoint.
In this case, the `x`, `y`, `z` and `yaw` fields are hardcoded to certain values, but they can be updated dynamically according to an algorithm or even by a subscription callback for messages coming from another node.
`TrattorySettpoint` 提供了位置设定点。
在这种情况下，`x`、`y`、`z`和`yaw`字段的值是硬编码为特定数值的。 但它们可以根据算法动态更新，甚至可以通过订阅回调函数来从另一个节点进行更新。
```cpp
/**
* @brief Publish a trajectory setpoint
* For this example, it sends a trajectory setpoint to make the
* vehicle hover at 5 meters with a yaw angle of 180 degrees.
*@brief 发布轨迹设定点
在本示例中，该函数会发送一个轨迹设定点，使载具在 5 米高度悬停，并保持 180 度的偏航角。
*/
void OffboardControl::publish_trajectory_setpoint()
{
@@ -185,9 +185,9 @@ void OffboardControl::publish_trajectory_setpoint()
}
```
The `publish_vehicle_command()` sends [VehicleCommand](../msg_docs/VehicleCommand.md) messages with commands to the flight controller.
We use it above to change the mode to offboard mode, and also in `arm()` to arm the vehicle.
While we don't call `disarm()` in this example, it is also used in the implementation of that function.
`publish_vehicle_command()` 将带有命令的 [VehicleCommand](../msg_docs/VehicleCommand.md)消息发送给载具。
我们使用上面的方法将模式切换为 offboard 模式，同时也在 arm() 函数中用它来对载具进行解锁。
我们在此示例中不调用 `disarm()` ，但它也用于执行此功能。
```cpp
/**
@@ -198,23 +198,23 @@ While we don't call `disarm()` in this example, it is also used in the implement
*/
void OffboardControl::publish_vehicle_command(uint16_t command, float param1, float param2)
{
VehicleCommand msg{};
msg.param1 = param1;
msg.param2 = param2;
msg.command = command;
msg.target_system = 1;
msg.target_component = 1;
msg.source_system = 1;
msg.source_component = 1;
msg.from_external = true;
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
vehicle_command_publisher_->publish(msg);
VehicleCommand msg{};
msg.param1 = param1;
msg.param2 = param2;
msg.command = command;
msg.target_system = 1;
msg.target_component = 1;
msg.source_system = 1;
msg.source_component = 1;
msg.from_external = true;
msg.timestamp = this-&gt;get_clock()-&gt;now().nanoseconds() / 1000;
vehicle_command_publisher_-&gt;publish(msg);
}
```
:::info
[VehicleCommand](../msg_docs/VehicleCommand.md) is one of the simplest and most powerful ways to command PX4, and by subscribing to [VehicleCommandAck](../msg_docs/VehicleCommandAck.md) you can also confirm that setting a particular command was successful.
The param and command fields map to [MAVLink commands](https://mavlink.io/en/messages/common.html#mav_commands) and their parameter values.
[VehicleCommand](../msg_docs/VehicleCommand.md是命令PX4的最简单和最高效的方式之一。 通过订阅 [VehicleCommandAck](../msg_docs/VehicleCommandAck.md)，您也可以确认设置特定命令是否成功。
参数字段和 指令字段对应于 [MAVLink commands](https://mavlink.io/en/messages/common.html#mav_commands)以及他们的参数值
:::
## See Also